Dynamic modeling and experimental identification of flexible structure mounted manipulator system

Abstract

The objective of this work is to describe the design and the implementation of an experiment to study the dynamics, the experimental identification and the active vibration control of a Flexible Structure Mounted Manipulator System (FSMS). The system consists of a three degree of freedom cylindrical manipulator system with a flexible link on its tip. A two-degree of freedom micro-manipulator is mounted on the flexible link of the macro manipulator. The dynamic modeling and experimental modal analysis identification in the frequency domain are being applied to design active digital control strategies for the micro-manipulator system to damp the mechanical vibrations of the flexible structure on the tip of the macro-manipulator system. © 2004 ASCE.