VIBRATION CONTROL OF AN ELASTIC MANIPULATOR LINK

Abstract

A single elastic link is modelled by the use of the Euler Bernoullin beam theory and mode summation techniques are used to solve the transient vibration problem. Cycloidal rise motion is used to drive the link. The spectrum of residual vibration amplitudes to the ratio of the natural frequency to rise motion frequency is obtained. It is shown that at certain values of the rise motion frequency, residual vibration is eliminated which can make the precise position control or precise tracking control of an elastic link possible