Pyrochemical processing of Idaho Chemical Processing Plant (ICPP) High Level Waste (HLW) calcine
Conference
·
OSTI ID:87053
- Lawrence Livermore National Lab., CA (United States)
- Westinghouse Idaho Nuclear Co., Inc., Idaho Falls, ID (United States)
Inertial force damping control by micromanipulator modulation is proposed to suppress the vibrations of a micro/macro-manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro-manipulator flexibility to adjust the motion of the micro manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro-manipulator system using micromanipulator-based inertial active damping control.
- Research Organization:
- Lawrence Livermore National Lab., CA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- W-7405-ENG-48
- OSTI ID:
- 87053
- Report Number(s):
- UCRL-JC--119349; CONF-9502108--1; ON: DE95014516
- Country of Publication:
- United States
- Language:
- English
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