Theoretical and experimental study on vibration control of flexible manipulator based on internal resonance

Abstract

Theoretical and experimental studies are conducted to control nonlinear vibration of a two-link flexible manipulator via internal resonance. A vibration control method is proposed and an effective vibration absorber is implemented based on a servomotor to establish a 2:1 internal resonance relationship with the flexible manipulator. By way of perturbation analysis, it is proven that internal resonance can be successfully established for the flexible manipulator undergoing rigid motion. In the presence of damping, the vibration energy of the flexible manipulator can be transferred to and dissipated by the vibration absorber via internal resonance. Numerical simulations and experimental investigation have verified the effectiveness and feasibility of the proposed method.