Desired Signal Planning of Flexible Arm for Reduction Control of Residual Vibration
Department of Mechanical System Engineering, Gunma University Kiryu, Gunma 376-8515, Japan
In this paper, first, the nonlinear equations of motion of a horizontal one-link flexible arm are obtained by use of mode functions of a cantilever beam with a mass. Then, the algorithm of the desired signal planning of the joint angle for the purpose of reducing control of residual vibration of the flexible arm is derived by using the initial and final conditions of the flexural displacement of the flexible link and the constraint conditions of the desired signal of the joint angle during the acceleration and deceleration terms as well as the linearized equation of motion of the flexible arm. The rotation control system of the flexible arm is constructed with the desired signal planning for the joint angle and the PD controller. Furthermore, numerical simulations of the rotation control of the flexible arm have been carried out, and it is confirmed that residual vibration of the flexible arm can be effectively reduced by the present desired signal planning for the joint angle.
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