Quasi-static trajectory tracking control considering vibration suppression of flexible-macro/rigid-micro manipulators

摘要

We propose a quasi-static trajectory tracking control method for the general flexible manipulators which have a flexible-macro/rigid-micro structure. We derive the quasi-static control schemes without considering the dynamics of the manipulator. The purposes of these schemes are position error compensation and vibration suppression for both macro and micro part. We consider the combination of the error compensation control and the vibration suppression control for the macro part and the error compensation control for the micro part and consider the combination of the error compensation control and the vibration suppression control for the macro part and the active mass damper for the micro part. The former combination is called the trajectory tracking mode and the latter is called the vibration suppre8sion mode. These two proposed modes are easy to implement. It is shown by experiments that the trajectory -tracking mode realizes the high performance of the trajectory tracking, the vibration suppression mode realizes the high performance of the vibration suppressing, and the switching of these two control modes is effective.