Elastodynamic response control of flexible redundant manipulators

An approach is presented to active vibration control of flexible robot manipulators with kinematic redundancy. The smart links are fabricated from the flexible links to which are bonded piezoceramic actuators and strain gage sensors. The state-space expression of the discrete time-varying dynamic system is developed firstly. A LQR feedback controller is designed based on the Bellman dynamic programming theory. Moreover, an approximate method is proposed for estimating the state information of the system. Finally, a planar 3R flexible redundant manipulator is utilized as an illustrative instance. The simulation results reveal that the dynamic characteristic of the manipulator has been enhanced significantly.