Design and experimental evaluation of flexible manipulator control algorithms
- Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.
- Pacific Northwest Lab., Richland, WA (United States)
Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ``feedforward simulation filter`` that uses embedded simulation, has been presented.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 34325
- Report Number(s):
- CONF-950232-27; ON: DE95008684; TRN: 95:009737
- Resource Relation:
- Conference: 6. American Nuclear Society meeting on robotics and remote systems, Monterey, CA (United States), 5-10 Feb 1995; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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