Slewing and Active Vibration Control of a Flexible Single-Link Manipulator

Abstract

This study focuses on the slewing and vibration suppression of flexible single-link manipulators. While extensive research has been conducted on such systems, few studies have experimentally validated their theoretical models. To address this gap, an experimental setup is developed, connecting the flexible link to a zero-backlash worm gear and further attaching it to the rotor shaft of the AC servomotor. The worm gear's characteristics isolate the link's vibrations from the rotor's angular motion, enabling independent design of the vibration controller and slewing control. This approach facilitates simultaneous accurate trajectory tracking and vibration suppression. An active vibration control algorithm is implemented based on an accurate dynamic model. This research encompasses dynamic modeling, slewing control, and vibration control for the system. Theoretical predictions are compared with experimental results to validate both the theoretical model and the proposed vibration control algorithm.