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http://dx.doi.org/10.5050/KSNVN.2005.15.2.169

Vibration Control of a Single-Link Flexible Manipulator Using Reaction Moment Estimator  

Shin, Hocheol (한국원자력연구소 원자력로봇랩)
Han, Sangsoo (한국원자력연구소 원자력로봇랩)
Kim, Seungho (한국원자력연구소 원자력로봇랩)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.15, no.2, 2005 , pp. 169-175 More about this Journal
Abstract
In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.
Keywords
Vibration Control; Flexible Manipulator; Sliding Mode Control; Reaction Moment Estimator;
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