Vibration control of flexible-link manipulators

Farshad Khorrami, Shihua Zheng

Research output: Contribution to journalConference articlepeer-review


Vibration control of flexible-link manipulators is considered. A nonlinear partial differential equation describing the dynamics of a two-link planar manipulator with a flexible forearm is derived. The zero-dynamics of a rigid/flex (hybrid) manipulator are given. Thereafter, different controllers are synthesized. The controller design strategies are based on an inner-loop controller which corresponds to the rigid body motion of the manipulator, taking into consideration the vibrations of the manipulator, and an outer-loop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations in the system. The measurements used in the outer-loop controller are obtained through accelerometer and strain gages mounted on the flexible forearm. The control methodologies advocated are applicable to multilink flexible manipulators.

Original languageEnglish (US)
Pages (from-to)175-180
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: May 23 1990May 25 1990

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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