Adaptive Notch Filter in a Two-Link Flexible Manipulator for the Compensation of Vibration and Gravity-Induced Distortion

This paper presents a 2-link, 2-DOF flexible manipulator control using an inverse feedforward controller and adaptive notch filter with direct strain feedback controller. In the manipulator, transient residue vibrations inhibit full potential of manipulator. Vibrations caused by abrupt changes in direction links are referred to as vibrations, whereas residual occur when arm takes too long settle after engaging intended task. The will reduce vibration beginning halting suddenly, while assure quick decay leftover vibrations. Maple, Maplesim, MATLAB tools were used model create filter. experiments took place dSPACE desk environment. experimental results spectral power resulting from two strategies compared. From results, had over 80% improvement reduction resonant frequencies that contribute vibration. confirmed feasibility approach, characterized very minimal settling end effector.