Vibration Control of Flexible Manipulators Using Smart Structures

Abstract

The long reach robots required for space applications necessitate active vibration control algorithms for a better pointing performance. The inherent flexibility of the long and flexible space arms can generate undesirable vibrations, making their end-point controls very difficult, although they provide a large reach volume and payload capabilities. This paper presents a novel technique to control the vibrations of N modes of a flexible link attached to a rigid robot employing an Impedance Control Technique using piezo-ceramic actuators and fiber-optic sensors. A piezo-ceramic actuator model has been developed by considering the moments/forces generated by the piezo-ceramic actuator as nonconservative external forces. Successful simulation and experimental results have been obtained for vibration control of a cantilever beam which is attached to the end effector of the Titan-II robot arm.