Vibration Control Of Flexible Manipulator Vibration Suppression Using Piezoelectric Active Joints

Flexible Robot Manipulators is also called elastic single joint beam. It is slightness and light,it is activated directly or separately by an actuator at one side , and has an executer at the other side. It is a current for structures on the spaceflight system to be designed larger and lighter,so they are more and more elastic. However,this kind of structures has a very low iriherency frequency,and easy to vibrating.So it is important to pay more attention to research on the FRM.Anciently,joint motor was frequently used to control the vibration of FRM.But one joint motor can only control one step of vibration mode,it is impossible for joint motor to control the vibration of FRIVI which has many steps of vibration mode .On the other hand ,the vibration control of joint motor is conflict with great range joint turn.So it is necessary to import other actuators to take on vibration control function.In this paper the retortion piezoelectric actuators were used to control vibration with the optimal initiative and PIE) control method in a single-Link FRM system.To this end,the model was established and the controllability,observability,model function of the system is simulated by computer.The effectiveness of this control method was validated by experiment for the decrease in attenuation time of the system.