Two-Degree-of-Freedom Control of Flexible Manipulator Using Adaptive Notch Filter and Strain Feedback

Abstract

This paper investigates vibration control in 3-dimensional motion of a Flexible manipulator using 2-degree-of-freedom controller. The controller employs an adaptive notch filter in the feedforward and strain feedback controller in the feedback path. Experimental results show that the proposed vibration controller is effective for three-dimensional vibration control of the flexible manipulator.