Parameters | Condition 1 | Condition 2 | Condition 3 |
---|---|---|---|
Length of the fixed flexible manipulator l1(m) | 2 | 2 | 2 |
Length of the axially translating arm l2(m) | 0.5 | 1 | 2 |
Flexible manipulator’s length l(m) | 2.5 | 3 | 4 |
Flexible manipulator mass m(kg) | 1 | 1 | 1 |
Linear density of flexible manipulator ρA(kg/m2) | 0.4 | 0.3333 | 0.25 |
Flexural rigidity of flexible manipulator EI(N∙m2) | 500 | 500 | 500 |
Flexible manipulator inertia Jm(kg∙m2) | 2.083 | 3 | 5.33 |
Modal coupling coefficient Fa1(kg1/2∙m) | 1.42 | 1.7064 | 2.2752 |
Characteristic root of modal function β1 | 0.35 | 0.2916 | 0.46875 |
Damping coefficient of the poses | 0.5 | 0.5 | 0.7 |
Controller parameters \(K_{p}\) | 395 | 228 | 203 |
Controller parameters \(K_{d}\) | 85 | 55 | 35 |