Multimode input shaping control of flexible robotic manipulators using frequency-modulation

Robotic manipulators used in heavy industries,such as the automotive industry,are generally bulky. driving such manipulators requires large actuators. in many cases,manipulators hardly carry any significant load compared to their sizes,such as those used for performing spot welding. however,the manipulators are oversized to avoid vibrations caused by high input command profiles. lighter flexible manipulators,on the other hand,are superior in terms of cost and energy consumption. however,size reduction comes at a price of slower performance in order to reduce inertia induced vibrations. in the present work,a command shaping strategy is developed to facilitate operating flexible manipulators at higher speeds while eliminating inertia excited vibrations. the strategy is based on input shaping techniques complemented with a multimode frequency modulation control system. the performance of the proposed strategy is demonstrated on a thin beam model of a robotic arm,using numerical and finite element simulations. © 2016 jordan journal of mechanical and industrial engineering.