Eliminating multiple modes of vibration in a flexible manipulator

Vibration suppression is often difficult to achieve in systems whose parameters are a function of configuration. A modified command filtering technique is proposed that eliminates the first two modes of vibration in a large, flexible manipulator with position-dependent parameters. The elimination of residual vibration is demonstrated using a circular trajectory located in the workspace of the manipulator so that a change in system properties occurs. The modified command filtering technique is compared to previous control methods in order to demonstrate its effectiveness in eliminating residual vibration