Hybrid vibration control of a Two-Link Flexible manipulator

This research work deals with tip vibration control of a Two-Link Flexible manipulator using hybrid control technique. This technique involves the implementation of unconstrained viscoelastic damping layer on the links in conjunction with active damping using piezoelectric sensors and actuators. Mathematical modelling of the complete system is done using the finite element approach in the inertial frame. Viscoelastic damping is modelled using Kelvin–Voigt elements for which a damping matrix is derived. Active damping is modelled as time-dependent uniformly distributed load applied by the piezoelectric actuator on the flexible link working under feedback control. The angular and linear velocities of the tips of flexible links are used for direct feedback. The unconstrained viscoelastic damping layer effectively reduces the vibrations of the system. The effectiveness of the active control depends upon the relative position of sensors and actuators on the links. The novelty of the work lies in control of torsional and flexural vibrations through the application of passive and active damping methods to the non-inertial frames represented by the manipulator links.