Abstract
Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.
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