Active vibration control of a flexible manipulator in a parallel drive mechanism

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.