STUDY ON REDUCING RESIDUAL VIBRATION OFFLEXIBLE REDUNDANT MANIPULATORS

Flexible redundant manipulators which possess characters of both felxible and redundant manipulators,have extensive applied prospects in aeronautical and astronautical fields. However,these manipulators are difficult to precisely control because of vibration caused by the structural flexibility. This paper studies how to reduce residual vibration of flexible redundant manipulators,and puts forward an active control method. This method can actively control residual vibration via some type of self-motions after the end-effector motion finished,so as to suppress vibration quickly. Lastly,the simulation result demonstrates its feasibility.