Micro manipulator motion control to counteract macro manipulator structural vibrations
Conference
·
OSTI ID:10120626
Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control.
- Research Organization:
- Pacific Northwest Lab., Richland, WA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC06-76RL01830
- OSTI ID:
- 10120626
- Report Number(s):
- PNL-SA-25159; CONF-950232-17; ON: DE95007282; TRN: 95:002140
- Resource Relation:
- Conference: 6. American Nuclear Society meeting on robotics and remote systems,Monterey, CA (United States),5-10 Feb 1995; Other Information: PBD: Feb 1995
- Country of Publication:
- United States
- Language:
- English
Similar Records
Pyrochemical processing of Idaho Chemical Processing Plant (ICPP) High Level Waste (HLW) calcine
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Bracing micro/macro manipulators control
Conference
·
Tue Nov 15 00:00:00 EST 1994
·
OSTI ID:10120626
+2 more
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Technical Report
·
Fri Sep 01 00:00:00 EDT 1995
·
OSTI ID:10120626
+1 more
Bracing micro/macro manipulators control
Conference
·
Sun May 01 00:00:00 EDT 1994
·
OSTI ID:10120626