Micro manipulator motion control to counteract macro manipulator structural vibrations

Conference · Wed Feb 01 00:00:00 EST 1995

OSTI ID:10120626

Lew, J Y; Trudnowski, D J; Evans, M S; Bennett, D W

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

Related Subjects

42 ENGINEERING
MANIPULATORS
MECHANICAL VIBRATIONS
CONTROL SYSTEMS
DAMPING
INHIBITION
420203
HANDLING EQUIPMENT AND PROCEDURES