Title: Simulation research on active control of low frequency modal vibration of double-joint flexible manipulator

Authors: Jun Su; Laoxiang Liu

Addresses: School of Mechanical Engineering, Henan Polytechnic Institute, Nanyang 473000, China ' School of Material Science and Engineering, Chongqing Jiaotong University, Chongqing 400074, China

Abstract: In order to solve the problems of low precision and high noise in the traditional vibration control method of manipulator, an active control method of low frequency modal vibration is proposed. The dynamic model is constructed by using the finite element equation and modal technology. The low-frequency and high-frequency modes are distinguished. The low-frequency mode is transformed into the state space equation based on the state variable. The volume and velocity are controlled to 0 by the method of 0 volume velocity mode construction. Finally, the coupling modal space control method is used to control the low frequency order frequency, damping ratio and modal shape. The active control is realised by displacement amplitude vector and velocity amplitude vector. The simulation results show that the position error of the elastic displacement of the arm and the moving platform centre in X and Y directions, is less than 0.02 mm.

Keywords: double joint; flexible manipulator; low frequency; modal vibration; active control; simulation.

DOI: 10.1504/IJISE.2021.118254

International Journal of Industrial and Systems Engineering, 2021 Vol.39 No.2, pp.287 - 298

Received: 28 Jun 2019
Accepted: 08 Nov 2019
Published online: 18 Oct 2021 *

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