Akademik Veri Yönetim Sistemi
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, cilt.48, sa.1, 2025 (SCI-Expanded, Scopus)
Flexible manipulators are highly advantageous due to their light weight, energy efficiency, low cost, and fast motion capability; however, they are exposed to undesired vibrations both during and after motion. Studies in the literature on passive vibration control of flexible manipulators have mainly focused on residual vibrations, and passive control methods are generally applied to different systems individually. Moreover, existing approaches often neglect the effect of changes in the natural frequency of multi-link manipulators during motion, which impacts control performance. This paper proposes a new integrated passive control (IPC) approach for multi-link flexible manipulators, which combines a multi-shaped control (MSC) and a motion-based input design (MID). These methods are developed based on widely used Posicast control (PC) and motion parameter-based control (MPC) to consider two different frequencies. The proposed approach combines the benefits of multiple passive control methods while addressing their limitations, like sensitivity, limited vibration control, and being tuned to one specific frequency. The proposed IPC method is examined on a two-link flexible manipulator modeled in MATLAB/Simscape. IPC considers the manipulator's natural frequencies at both the starting and ending positions. Vibration reduction during motion is 76.6%, while the trajectory error is decreased by 63.3%. For vibrations after motion, the trajectory error and vibration magnitude is diminished by 93.3%.