TY - JOUR
T1 - An active control method for vibration reduction of a single-link flexible manipulator
AU - Ma, Pengyu
AU - Xia, Ruiqiang
AU - Wang, Xuebin
AU - Zhang, Xuping
AU - Królczyk, Grzegorz
AU - Gardoni, Paolo
AU - Li, Zhixiong
N1 - The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work is supported by the National Natural Science Foundation of China (52005048) and Special Funds for Fundamental Research Business Fees of Central Universities of Chang’an University (300102259504), and Narodowego Centrum Nauki, Poland (No. 2020/37/K/ST8/02748).
PY - 2022/12
Y1 - 2022/12
N2 - There are three motion stages for an industrial robot manipulator, including the acceleration stage, the constant velocity stage, and the deceleration stage. Aiming at reducing the residual vibration of the manipulator after the movement of the deceleration, a new method is proposed by configuring the movement parameters of the flexible manipulator. Firstly, we conduct experiments to verify a numerical vibration model of the manipulator, and then, we analyze the vibration suppression effect under different conditions based on the numerical model. The results show that in the range of one movement, the residual vibration can be well suppressed when the acceleration and deceleration time are set as a positive integer to the natural period of the manipulator operation; otherwise, the vibration suppression effect is not obvious and proportional to the difference between the acceleration/deceleration time and the manipulator natural period.
AB - There are three motion stages for an industrial robot manipulator, including the acceleration stage, the constant velocity stage, and the deceleration stage. Aiming at reducing the residual vibration of the manipulator after the movement of the deceleration, a new method is proposed by configuring the movement parameters of the flexible manipulator. Firstly, we conduct experiments to verify a numerical vibration model of the manipulator, and then, we analyze the vibration suppression effect under different conditions based on the numerical model. The results show that in the range of one movement, the residual vibration can be well suppressed when the acceleration and deceleration time are set as a positive integer to the natural period of the manipulator operation; otherwise, the vibration suppression effect is not obvious and proportional to the difference between the acceleration/deceleration time and the manipulator natural period.
KW - Flexible manipulator
KW - active control
KW - low frequency
KW - vibration reduction
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U2 - 10.1177/14613484221094982
DO - 10.1177/14613484221094982
M3 - Article
AN - SCOPUS:85130008453
SN - 1461-3484
VL - 41
SP - 1497
EP - 1506
JO - Journal of Low Frequency Noise Vibration and Active Control
JF - Journal of Low Frequency Noise Vibration and Active Control
IS - 4
ER -