TY - GEN
T1 - Vibration controllability of flexible manipulators
AU - Konno, A.
AU - Uchiyama, M.
AU - Kito, Y.
AU - Murakami, M.
PY - 1994
Y1 - 1994
N2 - In this paper, we discuss the structural vibration controllability of flexible manipulators. In the spatial flexible manipulators, the structural vibration controllability would be configuration-dependent. Therefore, the flexible manipulator might have some vibration uncontrollable configurations and thus a discussion on the vibration controllability is a must. In order to understand the physical interpretation of vibration uncontrollable configurations we propose the `modal accessibility' concept which indicates how well the actuators can affect the structural vibration modes. The configuration in which all actuators can't affect at least one of the vibration modes of the manipulator is vibration uncontrollable. To clarify this point, we consider an example and perform experiments on vibration suppression control of the flexible manipulator. Experimental results clarify the modal accessibility concept.
AB - In this paper, we discuss the structural vibration controllability of flexible manipulators. In the spatial flexible manipulators, the structural vibration controllability would be configuration-dependent. Therefore, the flexible manipulator might have some vibration uncontrollable configurations and thus a discussion on the vibration controllability is a must. In order to understand the physical interpretation of vibration uncontrollable configurations we propose the `modal accessibility' concept which indicates how well the actuators can affect the structural vibration modes. The configuration in which all actuators can't affect at least one of the vibration modes of the manipulator is vibration uncontrollable. To clarify this point, we consider an example and perform experiments on vibration suppression control of the flexible manipulator. Experimental results clarify the modal accessibility concept.
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M3 - Conference contribution
AN - SCOPUS:0028096278
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 308
EP - 314
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Y2 - 8 May 1994 through 13 May 1994
ER -