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Proceedings Paper

Vibration suppression of a flexible manipulating system by using transfer matrix method
Author(s): Ji Yao Shen; Lonnie Sharpe; Zhong Q. He; Claude R. Keckler
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Paper Abstract

This paper models a two-arm flexible manipulating system by a set of generic partial differential equations, from which the transfer matrices for the flexible arms and revolute joints have been constructed. Based upon the compatibility conditions at the connecting points, the global system dynamic equation has been derived. Joint moments are used as the control actions. A typical control problem for end-effector vibration suppression has been investigated. Control law computation proceeds in the frequency domain based on the pole- placement method. The effectiveness of the vibration suppression by using distributed parameter modeling technique along with the application of transfer matrix method is indicated by means of the decay of the end-effector response time history computed based upon the modal expansion method.

Paper Details

Date Published: 1 May 1994
PDF: 13 pages
Proc. SPIE 2192, Smart Structures and Materials 1994: Mathematics and Control in Smart Structures, (1 May 1994); doi: 10.1117/12.174240
Show Author Affiliations
Ji Yao Shen, North Carolina A&T State Univ. (United States)
Lonnie Sharpe, North Carolina A&T State Univ. (United States)
Zhong Q. He, North Carolina A&T State Univ. (United States)
Claude R. Keckler, NASA Langley Research Ctr. (United States)


Published in SPIE Proceedings Vol. 2192:
Smart Structures and Materials 1994: Mathematics and Control in Smart Structures
H. Thomas Banks, Editor(s)

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