Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Table 3

Mode frequencies of the reduced model compared to the full model.

Iteration no.	Mode frequencies (Hz)
	1	2	3	4	5	6	7	8	9	10
1	1.588	1.987	13.468	43.931	91.882	157.376	240.498	341.385	460.403	600.949
5	—	—	—	—	—	—	—	341.369	460.121	596.996
40	—	—	—	—	—	—	—	—	460.119	596.919
282	—	—	—	—	—	—	—	—	—	596.913
Full model	1.588	1.987	13.467	43.931	91.882	157.376	240.498	341.369	460.119	596.913
Reduced error (%)	0	0	0.007	0	0	0	0	0	0	0