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A study on the vibration suppression of the manipulator with flexible element

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Abstract

For the rapid motion and the saving energy of transport by the manipulator, it requires a study for lighter mechanisms such as flexible link. In this report, a flexible link is modeled with rigid body connected by three springs. And, the equations of motion of manipulator driven by two motors are derived in consideration of the deflection of flexible element and the characteristics of driving source. For the case to transport the object from the initial position to the desired position by the manipulator, the energy-saving trajectory influenced by vibration is calculated by the iterative dynamic programming method, and the effectiveness of the control method is evaluated by the numerical simulation. Furthermore, the effectiveness of the numerical simulation is confirmed by the experiment of a flexible link which is driven by a single motor with energy-saving trajectory.

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Authors and Affiliations

  1. Department of Environmental Robotics, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, Japan

    Osamu Sato, Toshiki Yagi, Nobuya Takahashi & Masahiro Yokomichi

  2. Department of Mechanical Engineering, Miyakonojo College, National Institute of Technology, 473-1 Yoshio, Miyakonojo, 885-8567, Japan

    Asaji Sato

Authors
  1. Osamu Sato
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  2. Asaji Sato
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  3. Toshiki Yagi
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  4. Nobuya Takahashi
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  5. Masahiro Yokomichi
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Corresponding author

Correspondence to Osamu Sato.

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Sato, O., Sato, A., Yagi, T. et al. A study on the vibration suppression of the manipulator with flexible element. Artif Life Robotics 22, 471–476 (2017). https://doi.org/10.1007/s10015-017-0376-z

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  • DOI: https://doi.org/10.1007/s10015-017-0376-z

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