Abstract—System identification (SI) is a modeling method using experimental input-output signals without any physical properties of the system. In this study, a flexible planar manipulator is modeled with the SI method. The output is an acceleration signal of the tip point of the manipulator and the inputs are triangle and trapezoidal motion profiles. Motion parameters are set in order to reduce residual vibrations of the flexible manipulator. The mathematical model of the system is estimated with the continuous-time SI method. Simulation results are obtained by using the mathematical model. The identification and validation data are successfully matched with the experimental results.
Index Terms—System identification, flexible manipulator, vibration reduction.
L. Malgaca and M. Uyar are with the Department of Mechanical Engineering, Faculty of Engineering, Dokuz Eylul University, İzmir, Turkey (e-mail: levent.malgaca@deu.edu.tr, m.uyar@deu.edu.tr).
Ş. İ. Lök is with the Department of Mechatronics Engineering, The Graduate School of Natural and Applied Sciences, Dokuz Eylul University, İzmir, Turkey (e-mail: sefikaipeklok@gmail.com).
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Cite: Levent Malgaca, Şefika İpek Lök, and Mehmet Uyar, "Modeling and Vibration Reduction of a Flexible Planar Manipulator with Experimental System Identification," International Journal of Modeling and Optimization vol. 10, no. 4, pp. 121-125, 2020.
Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
