Vibration control of flexible manipulators using smart structures

The need for large robots in space applications necessitate active vibration control algorithms for a better performance. The inherent flexibility of the long and flexible space arms can generate undesirable vibrations making end-point control difficult although they provide a large reach volume and payload capabilities. This paper presents a novel technique to control of vibrations of N modes of a flexible link which is attached to a rigid robot based on an impedance control technique using piezo-ceramic actuators and fibre-optic sensors. A piezo-ceramic actuator model has been driven where the moments/forces generated by the piezo-ceramic actuator are modelled as non-conservative external forces. Simulation and experimental results have been illustrated for vibration control of a cantilever beam which is attached at the end-effector of a rigid robot arm.