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

Abdullah Özer*, Suat E. Semercigil

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 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. 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 advantage for cases where there may be structural uncertainties. Proposed variable stiffness control (VSC) is a stable controller, 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. In this investigation, structural dynamics is represented using standard finite elements. The control scheme has been tested both numerically and experimentally. Responses of the uncontrolled and controlled cases are compared with desired trajectory profiles.

Original languageEnglish
Pages (from-to)159-172
Number of pages14
JournalInternational Journal of Robotics and Automation
Issue number2
Publication statusPublished - 2011


  • Flexible robotic arm
  • Stable controller
  • Vibration control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Modelling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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