S-curve Motion Profile Design for Vibration Control of Single Link Flexible Manipulator

In flexible manipulators, it is important the reduce end-effector vibrations. Suppression of vibrations significantly increases precision performed work. Selection velocity profile for giving motion to a manipulator crucial especially during high-speed motions. this study, effect 3rd order S-curve time parameters which related with natural period on endpoint beam are investigated. The results and trapezoidal also compared. acceleration deceleration times both profiles selected equal. Finite elements model robot created solution transient response under given obtained by using Newmark method. from method compared established ANSYS program. effects were shown comparing in terms amplitudes.