Vibration Controllability of 3D Flexible Manipulators

[+] Author and Article Information
S. López-Linares

Robotics Laboratory, C.E.I.T., San Sebastián, Spain

A. Konno

Department of Mechano-Informatics, University of Tokyo, Japan

M. Uchiyama

Department of Aeronautics and Space Eng., Tohoku University, Japan

J. Dyn. Sys., Meas., Control 119(2), 326-330 (Jun 01, 1997) (5 pages) doi:10.1115/1.2801258 History: Received February 29, 1996; Online December 03, 2007


Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix and the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations of the manipulator are found.

Copyright © 1997 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In