Vibration Control of a one Link Flexible Arm: Experimental Results
In the present paper an open-loop technique is experimentally investigated in conjunction with closed-loop controller in order to reduce vibration after the move of a one link flexible manipulator. The vibration compensator scheme consists of an impulse sequence filter which time delay is given by the structural frequencies to be controlled. Two and three impulse sequence filters are used to compare compensator with different robustness under system parameter uncertainty. Satisfactory performances have been achieved with point-to point trajectory in the case of one link flexible ann operated through brushless motor and controlled by a DSP rcal time board. Experiments are performed in order to compare the efficiency of the method of control increasing the joint speed and acceleration. Besides, the other tests are implemented to eliminate the residual vibration due to the second bending mode.
KeywordsVibration Control Residual Vibration Brushless Motor Open Loop Scheme Joint Speed
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