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Shock and Vibration
Volume 2015, Article ID 964139, 11 pages
Research Article

Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator

School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China

Received 7 August 2014; Accepted 6 October 2014

Academic Editor: Mickaël Lallart

Copyright © 2015 Liang Zhao and Zhen-Dong Hu. 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.


Active vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated. The equations of the system are derived by Lagrange’s equation with the assumed mode method. The displacement and velocity control law is used to configure the self-sensing actuator, which provides the active damping and stiffness effect to the structure. The numerical simulations reveal that the tip deflection of the arm can be effectively reduced by the self-sensing actuator. The amplitude of sensor voltage is inversely proportional to the length of axially translating arm. And higher feedback control gain results in lower sensor voltages and vibration amplitudes.