Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator


An estimation technique based mostly on sliding discrete Fourier rework (SDFT) integrated with part-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate 1st vibration mode and harmonics that seem in tip deflection. Instantaneous modification in tip deflection thanks to payload conditions is tracked by adaptive sampling frequency management. State-area model, estimated amplitudes and frequencies of tip deflection as well as harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of on-line vibration mode estimation technique in presence of noise and offset.

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