Active Vibration Control for Flexible Space Environment Use Manipulators
A new dynamic control system for flexible space environment use manipulators has been developed from the practical viewpoint. The key concept in the proposed method is that the local position and torque PD feedback loop at each joint should be used for position and structural vibration control. First, the authors derived manipulator dynamics, and then feedback control was developed, using an appropriate potential function. Secondly, an experimental setup using an air suspended SCARA flexible manipulator is described. The effectiveness of this method has been verified by experimental results, adapting it to automatic payload handling.
KeywordsVibration Control Joint Torque Flexible Manipulator Flexible Link Active Vibration Control
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