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- W2089460120 abstract "For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method." @default.
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- W2089460120 date "2003-01-01" @default.
- W2089460120 modified "2023-10-12" @default.
- W2089460120 title "Vibration Mechanism of Constrained Spatial Flexible Manipulators." @default.
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- W2089460120 doi "https://doi.org/10.1299/jsmec.46.123" @default.
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