WCSE 2022 Spring
ISBN: 978-981-18-5852-9 DOI: 10.18178/wcse.2022.04.127

Decoupling Vibration Control for a Two-Link Manipulator

Qiang Xin, Chongchong Wang, Chin-Yin Chen, Guilin Yang, Fazhan Li

Abstract— Due to the influence of the coupling torque in the two-link manipulator, the disturbance observer (DOB) method cannot achieve an ideal vibration suppression effect. A velocity controller is proposed, including a decoupler and a rigid-body state observer (RBSO), to simultaneously decrease the coupling torque and vibrations. The two-link manipulator is modelled as a two-input two-output (TITO) system in this paper. The decoupler is designed based on the dynamic model of the TITO system in a simplified structure. The RBSO contains a state observer (SOB) and a damper. The SOB obtains a rigid-body velocity from its state variable. The damper feeds back the error between the rigid-body velocity and link velocity to a proportional-integral controller to add system damping, achieving vibration suppression. The effectiveness to decrease coupling torque and vibrations of the proposed method are verified in simulations.

Index Terms— TITO system, decoupler, rigid-body state observer, coupling torque, vibrations.

Qiang Xin
University of Chinese Academy of Sciences, China; Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, China
Chongchong Wang
Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, China
Chin-Yin Chen
Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, China
Guilin Yang
Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, China
Fazhan Li
Ningbo City College of Vocational Technology, China

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Cite: Jianhua Ma, Yalun Yang, Xingdong Wang, Jianyi Kong, " Decoupling Vibration Control for a Two-Link Manipulator, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 1089-1097, Sanya, China, April 15-18, 2022.