Abstract:
This paper presents a 2-link, 2-DOF flexible manipulator control using an inverse feedforward
controller and an adaptive notch filter with a direct strain feedback controller. In the flexible
manipulator, transient and residue vibrations inhibit the full potential of the manipulator. Vibrations
caused by abrupt changes in the direction of the links are referred to as transient vibrations, whereas
residual vibrations occur when the arm takes too long to settle after engaging in the intended task.
The feedforward adaptive notch filter will reduce transient vibration caused by the manipulator arm
beginning and halting suddenly, while the strain feedback will assure the quick decay of leftover
vibrations. Maple, Maplesim, and MATLAB tools were used to model the manipulator and create
the inverse controller and adaptive notch filter. The experiments took place in the dSPACE control
desk environment. The experimental results of the spectral power of strain resulting from the two
strategies are compared. From the results, the adaptive notch filter control had over an 80% improvement
in the reduction in resonant frequencies that contribute to vibration. The results confirmed the
feasibility of the approach, characterized by very minimal transient vibrations and a quick settling of
the end effector.
