Periodic Motion Control of Flexible Manipulator via Controllable Local Degree of Freedom

Abstract

An idea is proposed to use the controllable local degree of freedom to reduce vibration of the flexible manipulator performing the periodic task. The controllable local degree of freedom is incorporated into the flexible manipulator and used as an effective way to alleviate vibration through dynamic coupling. The feature of the periodic motion is utilized and a simple method is suggested to control vibration by constructing the appropriate modal control force via the controllable local degree of freedom, thereby counteracting the effects of the periodic exciting force. The numerical and experimental results preliminarily prove its effectiveness and feasibility in practical applications.