Vibration Control of a Two-Link Manipulator Using a Reduced Model
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Bibliographic record
Abstract
This research aims to actively suppress vibrations at the end-effector of a flexible manipulator. When configured in a locked state, the system behaves as a two-link manipulator subjected to disturbances on the first link. To analyze its behavior, Finite Element Analysis (FEA) is employed to extract the natural frequencies (eigenvalues) and corresponding mode shapes (eigenvectors) of a two-link, two-joint flexible manipulator (2L2JM). The obtained eigenvectors are transformed into uncoupled state-space equations using balanced realization and the Match-DC-Gain model reduction algorithm. An H-infinity controller is then designed and applied to both the full-order and reduced-order models of the manipulator. The objective of this study is to validate an analytical framework through FEA, demonstrating its applicability to complex manipulators with multiple joints and flexible links. Given that the full state-space representation typically results in high-dimensional matrices, model reduction enables effective vibration control with a minimal number of states. The derivation of the 2L2JM state space, its model reduction, and a subsequent control strategy have not been previously addressed in this manner. Simulation results showcasing vibration suppression of a cantilever beam are presented and benchmarked against two alternative modeling approaches.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it