Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller

Abdullah Özer*, S. Eren Semercigil

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural dynamics which has to deal with measurement inaccuracies and complex modeling efforts. This paper presents an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is stable, due to its being dissipative in nature. The technique is suitable to be implemented as an add-on controller to existing robots, and it requires no additional hardware. Control is based on the detection of a kinematic event, peak relative displacement, rather than an accurate knowledge of structural dynamics. Hence, although there may not be a claim for the suggested control to be the most effective, it certainly represents significant practical advantages for cases where there may be structural uncertainties.

Original languageEnglish
Title of host publicationStructural Dynamics - Proceedings of the 28th IMAC, A Conference on Structural Dynamics, 2010
PublisherSpringer New York LLC
Number of pages8
EditionPART 1
ISBN (Print)9781441998330
Publication statusPublished - 2011
Externally publishedYes

Publication series

NameConference Proceedings of the Society for Experimental Mechanics Series
NumberPART 1
ISSN (Print)2191-5644
ISSN (Electronic)2191-5652

ASJC Scopus subject areas

  • General Engineering
  • Computational Mechanics
  • Mechanical Engineering


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