Ibration Control of a Single Flexible-Link Flexible-Joint (FLFJ) Manipulator using Time Delay

The paper presents the results of a time delay-based active vibration control of a single flexible-link flexible-joint (FLFJ) manipulator. The control system is composed of two nested feedback loops; the inner loop is designed to eliminate any excessive vibrations and uses an approach based on time delay as a vibration absorber while the outer loop, consisting of a modified PD controller is used to make the angular position of the manipulator track a predefined trajectory. A simple experiment was developed to test the proposed control system. The proposed control system was also compared with (LQR) to demonstrate its superiority