Abstract:
Considering link vibrations, the main limitation affecting flexible
manipulators, this article seeks to make a contribution by presenting an
enhanced two degree of freedom vibration controller. This controller uses
a filtered right inverse controller in the feedforward and strain feedback
controller in the feedback path. The Filtered inverse controller damps
transient vibrations while preserving joint trajectories. On the other hand,
strain feedback controller ensures a rapid decay of residue vibrations.
Modeling of the manipulator was carried out in Maplesim, linearized
and inverted in Matlab. Experiments were conducted in the dSPACE
environment. Both the simulations and the experimental results showed
that the two-degree-of-freedom controlle
