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
- Country of Publication:
- United States
- Language:
- English
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