Vibration suppression of a flexible manipulating system by using transfer matrix method

Ji Yao Shen; Lonnie Sharpe Jr.; Zhong Q. He; Claude R. Keckler

doi:10.1117/12.174240

1 May 1994 Vibration suppression of a flexible manipulating system by using transfer matrix method

Ji Yao Shen, Lonnie Sharpe Jr., Zhong Q. He, Claude R. Keckler

Proceedings Volume 2192, Smart Structures and Materials 1994: Mathematics and Control in Smart Structures; (1994) https://doi.org/10.1117/12.174240
Event: 1994 North American Conference on Smart Structures and Materials, 1994, Orlando, FL, United States

Abstract

This paper models a two-arm flexible manipulating system by a set of generic partial differential equations, from which the transfer matrices for the flexible arms and revolute joints have been constructed. Based upon the compatibility conditions at the connecting points, the global system dynamic equation has been derived. Joint moments are used as the control actions. A typical control problem for end-effector vibration suppression has been investigated. Control law computation proceeds in the frequency domain based on the pole- placement method. The effectiveness of the vibration suppression by using distributed parameter modeling technique along with the application of transfer matrix method is indicated by means of the decay of the end-effector response time history computed based upon the modal expansion method.

Citation Download Citation

Ji Yao Shen, Lonnie Sharpe Jr., Zhong Q. He, and Claude R. Keckler "Vibration suppression of a flexible manipulating system by using transfer matrix method", Proc. SPIE 2192, Smart Structures and Materials 1994: Mathematics and Control in Smart Structures, (1 May 1994); https://doi.org/10.1117/12.174240

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