Lag-Stabilized Force Feedback Damping
Conference
·
· Journal of Intelligent & Robotic Systems
- Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)
A lag-stabilized, force feedback controller for damping initial and residual oscillations of a planar, cantilevered flexible arm has been analytically developed and experimentally implemented on a commercial robot. The controller feeds back force sensor measurements that are delayed in time and proportional to the displacement (angular orientation) of the arm in order to damp the oscillation. As a result of the lag (contrary to popular belief), the controlled robot system is stable and provides tunable performance on a Cincinnati Milacron T3-786 robot.
- Research Organization:
- Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 5806838
- Report Number(s):
- SAND--91-0194; CONF-910252--2; ON: DE91012633
- Journal Information:
- Journal of Intelligent & Robotic Systems, Journal Name: Journal of Intelligent & Robotic Systems Journal Issue: 3 Vol. 21; ISSN 0921-0296
- Publisher:
- Springer
- Country of Publication:
- United States
- Language:
- English
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