A Study of Vibration Control of a Slender Structure Using a Multi-Degree-of-Freedom Manipulator

Title & Authors
A Study of Vibration Control of a Slender Structure Using a Multi-Degree-of-Freedom Manipulator
Kim, Nak-In; Lee, Jong-Won;

Abstract
A multi d.o.f robotic manipulator is considered for multi-axis vibration control of a slender structure, using the concept of the flow source based vibration control. In order not to cause the motion saturation of the manipulator system, a hybrid dynamics associated with the flexible and desired manipulator error dynamics is also modeled as the control object. It is numerically shown that the flexible vibrations and the base motions of a test structure can be effectively controlled with the proposed hybrid dynamics.
Keywords
Flexible Slender Structure;Vibration Control;Hybrid Dynamics;Multi-Degree-of-Freedom Manipulator;
Language
Korean
Cited by
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