Vibration suppression of a flexible robot manipulator with a lightweight piezo-composite actuator

The increasing demand for high-speed performance and low energy consumption has necessitated the design of lightweight mechanical systems. The active vibration suppression of a flexible manipulator is important in many engineering applications, such as robot manipulators and high-speed flexible mechanisms, because the flexibility of lightweight manipulators induces a vibration problem. Frequently, the optimal parameters determined for a certain control algorithm might not cover a wide range of operating conditions. Hence, we have proposed and developed a lookup table control method for a flexible manipulator that can tune itself to optimal parameters on the basis of the initial maximum responses of the controlled system and a genetic algorithm. The genetic algorithm is used to search for optimal parameters with regard to positive position feedback and thereby minimizes the objective functions determined from the initial maximum responses. Our lookup table, which has the optimal parameters of the positive position feedback as a function of the initial maximum responses, can be used in a real-time control algorithm.