Active Control of Elastodynamic Response of Flexible Redundant Robot Manipulators

This paper presents an analytical investigation into active vibration control of flexible redundant robot manipulators featuring piezoelectric actuators and strain gage sensors. The state-space expression of the discrete time-varying dynamic system is developed firstly. The LQR optimal control law is presented based upon the discrete Minimum Principle. Moreover, an approximate method is proposed for estimating the state information of the system. Finally, a planar 3R flexible redundant manipulator is utilized as an illustration example. The simulation results show that the dynamic performance of the manipulator has been improved significantly.