Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration

The requirements for large robots in waste management and space applications necessitate active vibration control algorithms. The use of long, flexible links provides the needed range of motion but their inherent flexibility can generate undesirable vibrations making both control and endpoint positioning difficult. This paper presents two shaping algorithms, the impulse shaping method and the modified command filtering technique, to eliminate the first two modes of vibration in a flexible manipulator. The vibration suppression capabilities are demonstrated using a large elliptic trajectory that produces a significant change in the system properties of the two-link robot. The acceleration response of the tip of the manipulator provides a means of comparison for the different shaping algorithms.