Vibration control of multi-link robot manipulators: Part II with flexible linkages

A. Ozer, S. E. Semercigil

Research output: Contribution to journalArticle

Abstract

With the new trends in industrial automation, robotic systems are expected to be light structurally. In addition, these light structures are run at high speeds to meet high production demands. Light design combined with high speeds result in components which can oscillate with excessive amplitudes. These oscillations cause tracking errors and long idle periods between tasks in order to perform the intended operation safely and accurately. Results of the same technique proposed in Part I is used here to control excessive oscillations of a flexible two-link robotic manipulator. Numerical predictions suggest significant reductions in transient settling times.

Original languageEnglish
Pages (from-to)310-316
Number of pages7
JournalProceedings of the International Modal Analysis Conference - IMAC
Volume1
Publication statusPublished - 2001

ASJC Scopus subject areas

  • Engineering(all)

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