Dynamic model for two-link flexible manipulator based upon finite element and Lagrangian methods is derived. The flexibility of the manipulator link as well as the dynamics associated with the actuator system are considered to improve model accuracy.
With this model, Fourier-based optimal paths for two examples are designed to reduce residual vibration of the end tip. It is predicted that designed path scarcely induces residual vibration because weak velocity and acceleration in the rear region of the path reduce continuously nonlinear forces and inertia forces to final position.
As a result of experimental test on each designed path, dramatical vibration reduction, as predicted, has been certified.
