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

被引：0

作者：

Su J. ^{[1
]}

Liu L. ^{[2
]}

机构：

[1] School of Mechanical Engineering, Henan Polytechnic Institute, Nanyang

[2] School of Material Science and Engineering, Chongqing Jiaotong University, Chongqing

来源：

International Journal of Industrial and Systems Engineering | 2021年 / 39卷 / 02期

关键词：

Active control; Double joint; Flexible manipulator; Low frequency; Modal vibration; Simulation;

D O I：

10.1504/IJISE.2021.118254

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

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. Copyright © 2021 Inderscience Enterprises Ltd.

引用

页码：287 / 298

页数：11

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