Two Degree-of-Freedom vibration control of a 3D, 2 Link Flexible Manipulator

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