A passive joint controller for the flexible robotic arm

Abstract A passive vibration controller to attenuate the excessive transient vibrations of a single link, flexible robotic arm is suggested. A finite element model is developed and numerical simulations are performed to determine the optimal parameters to minimize settling time, peak acceleration and peak displacement when the arm is subjected to a half-sinusoid tip impact. The effect of forcing frequency on these response parameters is determined. Laboratory experiments demonstrate the validity of the technique by producing close agreement with the simulations.