skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller

Abstract

This paper describes ORNL`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory`s Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL`s Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similarmore » to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language.« less

Authors:
; ;  [1];  [2]
  1. Oak Ridge National Lab., TN (United States)
  2. Battelle, Richland, WA (United States). Dept. of Automation and Measurement Sciences
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
106669
Report Number(s):
CONF-9410231-3
ON: DE95014254; TRN: 95:021878
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: 8. Deneb user group meeting, Detroit, MI (United States), 10-14 Oct 1994; Other Information: PBD: [1994]
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; 05 NUCLEAR FUELS; MANIPULATORS; COMPUTERIZED SIMULATION; REMEDIAL ACTION; RADIOACTIVE WASTE STORAGE; TANKS

Citation Formats

Bills, K C, Kress, R L, Kwon, D S, and Baker, C P. Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller. United States: N. p., 1994. Web.
Bills, K C, Kress, R L, Kwon, D S, & Baker, C P. Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller. United States.
Bills, K C, Kress, R L, Kwon, D S, and Baker, C P. Sat . "Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller". United States. https://www.osti.gov/servlets/purl/106669.
@article{osti_106669,
title = {Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller},
author = {Bills, K C and Kress, R L and Kwon, D S and Baker, C P},
abstractNote = {This paper describes ORNL`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory`s Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL`s Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1994},
month = {12}
}

Conference:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this conference proceeding.

Save / Share: