Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches

Technical Report · Fri Sep 01 04:00:00 EDT 1995

DOI:https://doi.org/10.2172/115635· OSTI ID:115635

Lew, J Y ^[1]; Cannon, D W; Magee, D P; Book, W J ^[2]

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1. Pacific Northwest Lab., Richland, WA (United States)
2. Georgia Institute of Technology, Atlanta, GA (United States)

Pacific Northwest Laboratory (PDL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: (1) modified input shaping and (2) inertial force active damping control. Modified input shaping (MIS) is used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IFAD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces.

• Research Organization: Pacific Northwest Lab., Richland, WA (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC06-76RL01830
• OSTI ID: 115635
• Report Number(s): PNL--10757; ON: DE96001341
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
42 ENGINEERING
ACCURACY
DAMPING
DYNAMICS
MANIPULATORS
MATHEMATICAL MODELS
MECHANICAL VIBRATIONS