Digital filter control of remotely operated flexible robotic structures
Conference
·
OSTI ID:10133308
This paper presents an infinite impulse response (IIR) filtering technique for reducing structural vibration in remotely operated robotic systems. The technique uses a discrete filter between the operator`s joy stick and the robot controller to alter the inputs of the system so that residual vibration and swing are reduced. A linearized plant model of the system is analyzed in the discrete time domain, and the filter is designed using pole-zero placement in the z-plane. This technique has been successfully applied to a two link flexible arm and a gantry crane with a suspended payload.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 10133308
- Report Number(s):
- SAND--92-1630C; CONF-930403--19; ON: DE93007587
- Country of Publication:
- United States
- Language:
- English
Similar Records
Digital filter control of remotely operated flexible robotic structures
Operator control systems and methods for swing-free gantry-style cranes
Operator control systems and methods for swing-free gantry-style cranes
Conference
·
Tue Dec 31 23:00:00 EST 1991
·
OSTI ID:6706644
Operator control systems and methods for swing-free gantry-style cranes
Patent
·
Tue Jul 28 00:00:00 EDT 1998
·
OSTI ID:672489
Operator control systems and methods for swing-free gantry-style cranes
Patent
·
Wed Dec 31 23:00:00 EST 1997
·
OSTI ID:871734