Compensation manipulator flexibility effects by modal space techniques

The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.