An active control method for vibration reduction of a single-link flexible manipulator

There are three motion stages for an industrial robot manipulator, including the acceleration stage, constant velocity and deceleration stage. Aiming at reducing residual vibration of manipulator after movement deceleration, a new method is proposed by configuring parameters flexible manipulator. Firstly, we conduct experiments to verify numerical model then, analyze suppression effect under different conditions based on model. The results show that in range one movement, can be well suppressed when time set as positive integer natural period operation; otherwise, not obvious proportional difference between acceleration/deceleration period.