Research Article
Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control
Table 5
Natural frequencies of the corrected RRM (CRRM) compare reduced model (RM).
| | | Natural/Mode frequencies (Hz) | | Rigid motion | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| | CRRM | 2.7 × 10−5 | 1.595 | 1.980 | 13.648 | 43.931 | 91.882 | 157.376 | 240.498 | 341.369 | 460.119 | | RM | — | 1.588 | 1.987 | 13.468 | 43.931 | 91.882 | 157.376 | 240.498 | 341.369 | 460.119 | | Error (%) | — | 0.41 | 0.35 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
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