随着材料和科学技术的进步，工程领域正在推出重量轻、体积小、性能高的产品

With the advancement of materials and science and technology, the engineering field is launching products with light weight, small size and high performance, making the robot system more intelligent. The pursuit of a more compact and flexible structure makes the system more flexible, but it also brings thorny control problems. Internal uncertainties such as external disturbance, friction, structural flexibility and neglected high-order dynamics can all cause vibration problems. Structural vibration will affect the positioning accuracy and speed of the system to a certain extent, and even shorten the service life of the system. Therefore, The research on vibration control of flexible structures is urgent. In this paper, the research is mainly carried out from three aspects: dynamic modeling of manipulator, vibration detection and active vibration control.

With the progress of materials and science and technology, the engineering field is introducing light weight, small size, high performance products, making robot systems more intelligent. The pursuit of a more compact and flexible structure gives the system more flexibility, but it also presents difficult control issues. Internal uncertainties such as external disturbance, friction, structural flexibility and neglected high-order dynamics can cause vibration problems, and structural vibration can affect the positioning accuracy and speed of the system to a certain extent, and even shorten the service life of the system. This paper mainly studies the dynamics modeling, vibration detection and vibration active control of the robot arm.

With the progress of materials and science and technology, products with light weight, small volume and high performance are being launched in the engineering field, which makes the robot system more intelligent. The pursuit of a more compact and flexible structure makes the system more flexible, but it also brings difficult control problems. External disturbance, friction, structural flexibility and neglected high-order dynamics and other internal uncertainties can cause vibration problems. Structural vibration will affect the positioning accuracy and speed of the system to a certain extent, and even shorten the service life of the system. Therefore, the research on vibration control of flexible structures is urgent. In this paper, the dynamic modeling, vibration detection and active vibration control of the manipulator are studied.