Bracing micro/macro manipulators control
Conference
·
OSTI ID:10163084
- Pacific Northwest Lab., Richland, WA (United States)
- Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering
This paper proposes a bracing strategy for micro/macro manipulators. The bracing micro/macro manipulator can provide advantages in accurate positioning, large work-space, and contact-task capability however, in exchange for improvement in performance one must accept the complex control problem along wit the complex dynamics. This research develops a control scheme for a bracing manipulator which makes multiple contacts with the environment. Experimental results show the feasibility of the proposed ideas for real world applications.
- Research Organization:
- Pacific Northwest Lab., Richland, WA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); National Aeronautics and Space Administration, Washington, DC (United States)
- DOE Contract Number:
- AC06-76RL01830
- OSTI ID:
- 10163084
- Report Number(s):
- PNL-SA--24223; CONF-940550--13; ON: DE94014434; CNN: GRANT NAG1-623
- Country of Publication:
- United States
- Language:
- English
Similar Records
Micro manipulator motion control to counteract macro manipulator structural vibrations
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Position control of robot manipulators manipulating a flexible payload
Conference
·
Tue Jan 31 23:00:00 EST 1995
·
OSTI ID:10120626
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Technical Report
·
Fri Sep 01 00:00:00 EDT 1995
·
OSTI ID:115635
Position control of robot manipulators manipulating a flexible payload
Journal Article
·
Sun Feb 28 23:00:00 EST 1999
· International Journal of Robotics Research
·
OSTI ID:346800