Experimental investigation of feed-forward control schemes of flexible robot manipulator system

Abstract

This paper presents experimental investigations into the applications of feed forward control schemes for vibration control of a flexible manipulator. Feed forward control schemes based on input shaping and filtering techniques are to examined. A constrained planar single link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristics parameter of the systems for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Experimental results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performance of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, the comparative assessment of the control strategies is presented and discussed.