Motion control of the flexible manipulator via controllable local degrees of freedom. (English) Zbl 1170.70315
Summary: In order to improve motion accuracy of the flexible manipulator, an idea of using its topological characteristics to suppress vibration is suggested. The concept of controllable local degree of freedom is proposed and introduced to the topological structure of the flexible manipulator. It is shown that the arbitrary motion provided by the controllable local degrees of freedom plays an important role in eliminating undesired effects of the flexibility. On this basis, a method for reducing motion error of the flexible manipulator is put forward. By planning the motion of controllable local degrees of freedom, the appropriate control force can be constructed to increase the damping force and eliminate the exciting force of the flexible manipulator, thereby improving the end-effector accuracy. The results, demonstrated by the numerical simulations, are highly promising and suggest that controllable local degrees of freedom can be a useful tool in combating the undesired vibration deformation of the flexible manipulator.
MSC:
| 70E60 | Robot dynamics and control of rigid bodies |
| 70Q05 | Control of mechanical systems |
| 74M05 | Control, switches and devices (“smart materials”) in solid mechanics |
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