Control of robots with lightweight links using positive modal feedback

In previous papers (1990, 1991), the authors had developed a fully coupled, nonlinear dynamic model of a two degree of freedom manipulator with a lightweight link. The present paper considers a single degree of motion of such a manipulator to evaluate the effectiveness of the positive modal feedback scheme in suppressing the modal vibrations of the link. Simulation and experimental results are presented which demonstrate that the proposed scheme suppresses link vibrations rapidly, without affecting the rigid mode response.<
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