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An active control method for vibration reduction of a single-link flexible manipulator
| Content Provider | SAGE Publishing |
|---|---|
| Author | Ma, Pengyu Xia, Ruiqiang Wang, Xuebin Zhang, Xuping Królczyk, Grzegorz Gardoni, Paolo Li, Zhixiong |
| Copyright Year | 2022 |
| Abstract | There are three motion stages for an industrial robot manipulator, including the acceleration stage, the constant velocity stage, and the deceleration stage. Aiming at reducing the residual vibration of the manipulator after the movement of the deceleration, a new method is proposed by configuring the movement parameters of the flexible manipulator. Firstly, we conduct experiments to verify a numerical vibration model of the manipulator, and then, we analyze the vibration suppression effect under different conditions based on the numerical model. The results show that in the range of one movement, the residual vibration can be well suppressed when the acceleration and deceleration time are set as a positive integer to the natural period of the manipulator operation; otherwise, the vibration suppression effect is not obvious and proportional to the difference between the acceleration/deceleration time and the manipulator natural period. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/14613484221094982?download=true |
| Starting Page | 1497 |
| Ending Page | 1506 |
| Page Count | 10 |
| ISSN | 14613484 |
| Issue Number | 4 |
| Volume Number | 41 |
| Journal | Journal of Low Frequency Noise, Vibration and Active Control (LFN) |
| e-ISSN | 20484046 |
| DOI | 10.1177/14613484221094982 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2022-04-23 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2022 |
| Subject Keyword | Flexible manipulator vibration reduction active control low frequency |
| Content Type | Text |
| Resource Type | Article |
| Subject | Building and Construction Acoustics and Ultrasonics Mechanics of Materials Geophysics Mechanical Engineering Civil and Structural Engineering |
