IDEAS home Printed from https://ideas.repec.org/a/ids/ijisen/v39y2021i2p287-298.html
   My bibliography  Save this article

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

Author

Listed:
  • Jun Su
  • Laoxiang Liu

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.

Suggested Citation

  • Jun Su & Laoxiang Liu, 2021. "Simulation research on active control of low frequency modal vibration of double-joint flexible manipulator," International Journal of Industrial and Systems Engineering, Inderscience Enterprises Ltd, vol. 39(2), pages 287-298.
    • Handle: RePEc:ids:ijisen:v:39:y:2021:i:2:p:287-298
    as

    Download full text from publisher

    File URL: http://www.inderscience.com/link.php?id=118254
    Download Restriction: Access to full text is restricted to subscribers.
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:ids:ijisen:v:39:y:2021:i:2:p:287-298. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sarah Parker (email available below). General contact details of provider: http://www.inderscience.com/browse/index.php?journalID=188 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.