关键词: 加速度反馈, 两杆柔性机械臂, 振动控制, 非线性控制

Abstract: The positioning accuracy and operational performance of flexible manipulators are greatly affected by the external disturbances. To solve this problem, experimental investigations are presented on active vibration control of a twolink flexible manipulator (TLFM). The experimental setup of TLFM is constructed. Two accelerometers are installed at each flexible link of the TLFM, used as the vibration signal sensors. The servo motor is used as a vibration control driver. The proportional control and nonlinear control algorithm are adopted to suppress the elastic vibration caused by the motor during the rotation. Active vibration control experiments are carried out. The experimental results show that the proposed control algorithm with acceleration feedback can suppress the vibration of the two link flexible manipulator practically stably and effectively.

Key words: acceleration feedback, twolink flexible manipulator, fuzzy logic control, nonlinear control