Vibration control of flexible manipulators

The authors present a comparative study of two vibration reduction schemes for flexible manipulators. The two methods under consideration are the command preshaping technique and the feedforward control technique. The first method limits vibrations in the system by shaping the system inputs. The second method uses the inverse arm approach to reduce vibrations. It is also shown that the first method is a special case of the feedforward control technique. The design method is illustrated with a numerical example