Microcontroller-based input shaping for vibration control of flexible manipulator system

Abstract

This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. In order to investigate real-time implementation of the controllers, the embedded input shaping is programmed in PIC microchip and tested to the flexible manipulator model in Matlab. The investigation results of the response of the manipulator to the shaped inputs are presented in time and frequency domains. The performance of the controllers in real-time are investigated in terms of the level of vibration reduction and time response specifications.