A modified integral resonant control scheme for vibration suppression of parallel kinematic mechanisms with flexible links

A new modified integral resonant control (IRC) scheme is demonstrated herein for vibration suppression of the flexible links of parallel kinematic mechanisms (PKMs). Typically, the resonance frequencies and response amplitudes of the PKM links experience configuration–dependent variation within the workspace. To address these variations, a robust quantitative feedback theory (QFT) approach is utilised herein on a cantilever beam, with a variable...