Input shaping filter methods for the control of structurally flexible, long-reach manipulators
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. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operation, various types of shaping filter methods have been investigated. A robust notch filtering method and an impulse shaping method were used as simulation benchmarks. In addition to that, two very different approaches have been developed and compared. One new approach, referred to as a ``feedforward simulation filter,`` uses imbedded simulation with complete knowledge of the system dynamics. The other approach, ``fuzzy shaping method,`` employs a fuzzy logic method to modify the joint trajectory from the desired end-position trajectory without precise knowledge of the system dynamics.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); Oak Ridge Inst. for Science and Education, TN (United States); Korea Science and Engineering Foundation (Korea, Republic of)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10104208
- Report Number(s):
- CONF-940550-8; ON: DE94002799; TRN: 94:005503
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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