Vibration Suppression and Compliance Control of a Flexible Cantilever Beam using Manipulators

Abstract

In this paper, a vibration suppression and compliance control algorithm for a flexible cantilever beam using multiple manipulators is proposed. The system of vibration suppression and the operating principle of the multiple manipulators are first introduced. The cantilever beam is modelled as a distributed parameter system following the Euler-Bernoulli Beam theory. Then the dynamic response of the cantilever beam is carried out to design the control law of vibration suppression. To prevent the extreme pressure on the beam exerted by manipulators, a compliance control algorithm is presented. In this way, the manipulator will move along with the displacement of the beam when the pressure between the beam and manipulators exceed the threshold. Finally, numerical simulations are provided to illustrate the performance of the algorithm. The results of simulations reveal that the manipulators can suppress the vibration of the cantilever beam effectively and the stresses of the beam at arbitrary positions are reduced. Meanwhile, the contact forces between the beam and manipulators can be controlled within the specified threshold.