Modified reduced-order modeling of a flexible robot-manipulator and model-associative vibration control implementation

摘要: Abstract This paper introduces a modified reduced-order model with aim to use in the dynamic analysis of flexible robot-manipulators. The structure is firstly discussed theoretically, then numerically, and finally experimentally terms efficiency, utility robustness. Due deterministic model, which formed by taking into account specific features system, successful can be created without need for wide range training data such probabilistic methods. Because simplicity it able realize dramatic decrease period compared FEA programs. also quite reflecting robot’s nonlinear trigonometric position responses. Besides, an open loop model-associative vibration control method was used show satisfactory results were achieved actual system. Furthermore, ability perform multiple scenarios short time allowed case-study input parameters.