Active-Force Control on Vibration of a Flexible Single-Link Manipulator Using a Piezoelectric Actuator

  • Abdul Kadir Muhammad
  • Shingo Okamoto
  • Jae Hoon Lee


The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme using three control strategies, namely active-force (AF) proportional (P), and proportional-derivative (PD) controls and to confirm the calculated results by experiments of a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, Fast Fourier Transform (FFT) processing and eigenvalues–eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the AF, P, and PD controls strategies were designed and compared their performances through calculations and experiments. The calculated and experimental results showed the superiority of the proposed AF control compared to the P and PD ones to suppress the vibration of the flexible link manipulator.


Active-force control Finite-element method Flexible manipulator Piezoelectric actuator Proportional control Proportional-derivative control Vibration control 


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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  • Abdul Kadir Muhammad
    • 1
    • 2
  • Shingo Okamoto
    • 1
  • Jae Hoon Lee
    • 1
  1. 1.Graduate School of Science and EngineeringEhime UniversityMatsuyamaJapan
  2. 2.Center for Mechatronics and Control Systems, Mechanical Engineering DepartmentState Polytechnic of Ujung PandangMakassarIndonesia

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