Energy-Saving Driving for a Flexible Manipulator by Utilizing Micro Fiber Composite

In this paper, we examine a point-to-point motion task of flexible manipulator with macro fiber composite (MFC) and then propose new feedforward control method to suppress driving energy residual vibration simultaneously. For this, use an MFC attached one side the that has revolute joint as actuator. We attempt express angle in technique by combining cycloidal polynomial functions. On other hand, input voltage profile is expressed using Gaussian The trajectory are dependent upon coefficients function functions, respectively. optimized simultaneously cancel under saving tuning particle swarm optimization algorithm. effectiveness proposed verified performing simulations experiments. Thus, our findings confirmed simultaneous saves more than only trajectory. Therefore, could establish energy-saving two actuators.