Vibration Control of Flexibly Supported Parallel Robots

The simulation of Chap. 7 shows that it is necessary to implement the vibration suppression control (or vibration control) to reduce terminal position error of the FAST feed support system caused by the wind disturbance. This chapter discusses the existing vibration control methods of the flexibly supported robots. Trajectory compensation vibration control and internal force vibration control are illustrated and applied to the FAST feed support system. Simulation and experiment results show that the trajectory compensation vibration control and internal force vibration control improve the terminal trajectory accuracy and avoid the self-excited vibration effectively.