Research On Vibration Suppression For The Flexible Manipulator Of Robot Using Input Shaping Technique

Flexible Manipulator of Robots(FMRs) has many advantages such as light weight, low cost, and compact structure, etc. It is widely used in spacecraft, robot flexible structures, which has a good promising in the field of advanced manufacturing. It emerges the residual vibration phenomenon in operation process, which has a serious influence on its efficiency and precision of control, and adds to the design system complexity of structure for FMR. Input shaper is an open controller, which can eliminate the vibration just through shaping the input command. It is clear that it has some advantages, including simple structure, easier implement and so on. In order to prevent the residual vibration of FMR in the operation process and improve its control precision, so a method using input shaping technology to suppress the residual vibration of the FMR is studied in this paper.The mechanical structure and the system of vibration suppression are constructed and the movement mechanism for the FMR is elaborated in this paper. Based on the Lagrange dynamics equation and the assumed mode method, the dynamic model of the flexible robot manipulator is calculated, and the dynamic characteristics of FMR are analyzed from the three aspects of modal truncation, nonlinear and structural parameters.According to input shaping technology, the expression of the typical input shapers of the FMR is obtained and the robustness analysis is also carried out. The simulation model of the FMR is built with MATLAB, and this model is studied by simulation. An open experimental platform for suppressing vibration of the FMR based on a prototype FMR is set up, and a experimental study is conducted in VC + + 6.0.The research demonstrates that: 1) The validity of the simplified model of flexible manipulator dynamics is verified by using model truncation and nonlinear analysis; 2) The designed structure parameters are also the main factors influencing the vibration of FMR; 3) The robustness of EI input shaper is stronger than the ZV input shaper and ZVD input shaper within the same speed and load; 4) The fast the speed, the great the residual vibration within the same speed and load; 5) The great the load, the great the residual vibration within the same speed and load; 6) The vibration of the FMR is effectively restrained by the design of the input shaper. The discussion results of this paper provide rationale for optimization designing and suppressing vibration of flexible structure of the spacecrafts and robots.