ON RESIDUAL VIBRATION CONTROL OF TIME-VARYING REDUNDANT OPENCHAIN LINKAGE WITH JOINT AND LINK FLEXIBILITY

摘要

Residual vibration control of time-varying redundantrnopen-chain linkage with link and joint flexibility is studiedrnin this paper. The control equations of the flexible openchainrnlinkage is time-varying. Computer simulation of arnplanar flexible open-chain linkage with only one degreernof redundancy shows that the residual vibration isrndecreased effectively, thus the endpoint is almost stabelrnat the fixed point though compensation is not considered.