Vibration Control of Mobile Robot Vehicle by Dynamic Vibration Absorber.

Abstract

The paper considers a planar vibrational model of mobile robot vehicle equipped with dynamic vibration absorber.The purpose is first, to determine the dynamic vibration absorber parameters optimal adjustment giving the lowest vibrational displacement of the vehicle body at resonance, when the vehicle is subjected to ground roughness modeled as sinusoidal or periodic rectangular spaced pulse disturbances.Second, the purpose is to determine disturbance frequencies at which the dynamic vibration absorber parameters optimal adjustment fails to ensure the vibration stability of the mobile robot vehicle equipped with the dynamic vibration absorber, and to recommned measures to guarantee the vibration stability at these frequencies.