Vibration Control of a High-Speed Manipulator Using Input Shaper and Positive Position Feedback

  • Zhongyi Chu
  • Jing Cui
  • Fuchun Sun
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 214)


This paper presents an experimental study on the dynamics and vibration control of a high-speed manipulator. Light weight and high-speed manipulators are flexible structures, vibration will be unavoidable due to motion of inertial components or uncertainty disturbance excitation. To solve this problem, input shaping feed forward controller is adopted to suppress vibration of a flexible smart manipulator. Also, multi-mode positive position feedback (PPF) controller is designed with piezoelectric actuator, for suppressing the lower amplitude vibration near the equilibrium point significantly. Especially, the experiment setup that includes the test-bed mechanism of a flexible planar parallel smart manipulator and the hardware and software structures of the control system are then developed. Experimental research is conducted to show that the adopted input shaping algorithm can substantially suppress the larger amplitude vibration, and the PPF controller can also damp out the lower amplitude vibration significantly. The experimental results demonstrate that the proposed controllers can suppress vibration effectively.


High-speed manipulator Vibration control Input shaping Positive position feedback 



This work was jointly supported by the National Natural Science Foundation of China (Grant No. 50905006, 61005066) and the Research Fund for the Doctoral Program of Higher Education (Grant No. 20091102120027).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.School of Instrument and Opto-ElectronicsBeihang UniversityBeijingChina
  2. 2.Science and TechnologyInterial LabBeijingChina
  3. 3.College of Mechanical Engineering and Applied Electrical TechnologyBeijing University of TechnologyBeijingChina
  4. 4.Department of Computer Science and TechnologyTsinghua UniversityBeijingChina

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