Active damping of oscillations in a long compliant manipulator link

Conference · Thu Jul 01 04:00:00 EDT 1993

OSTI ID:10184373

Baker, C P; Evans, M S; Trudnowski, D J ^[1]; Magee, D P ^[2]

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1. Pacific Northwest Lab., Richland, WA (United States)
2. Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering

A flexible manipulator test bed consisting of a fifteen foot long fixed-free compliant beam (representing a compliant manipulator link) with a Shilling Titan II dextrous manipulator mounted on its free end has been constructed at Pacific Northwest Laboratory (PNL). A comprehensive dynamic model which includes flexible body effects has been developed at PNL using a commercially available multibody dynamics code. A linearized version of the model is used to develop control strategies which use inertial forces generated by movements of the dextrous manipulator to damp out induced oscillations in the beam. These control strategies are tested on the model and shown to be feasible, and then implemented in the flexible manipulator testbed. Results from the hardware experiments are analyzed and compared with the model results.

• Research Organization: Pacific Northwest Lab., Richland, WA (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC06-76RL01830
• OSTI ID: 10184373
• Report Number(s): PNL-SA--22414; CONF-9307126--1; ON: DE93018878
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203
99 GENERAL AND MISCELLANEOUS
990200
DAMPING
DYNAMICS
HANDLING EQUIPMENT AND PROCEDURES
MANIPULATORS
MATHEMATICAL MODELS
MATHEMATICS AND COMPUTERS
REMEDIAL ACTION
STRAIN GAGES
TESTING