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Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Published online by Cambridge University Press:  09 March 2009

Jung-Keun Cho  and
Youn-Sik Park
Jung-Keun Cho
Affiliation:
Daewoo Motor Co. Ltd (Korea).
Youn-Sik Park
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, KAIST, Science Town, Taejeon 305–701 (Korea).
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Summary

In the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator system

The manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

Keywords

Impulse shapingVibration reductionFlexible manipulator
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 339 - 345
Copyright
Copyright © Cambridge University Press 1996

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References

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