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Title: Micro manipulator motion control to counteract macro manipulator structural vibrations

Inertial force damping control by micro manipulator 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 micro-manipulator-based inertial active damping control.
Authors:
; ; ;
Publication Date:
OSTI Identifier:
10120626
Report Number(s):
PNL-SA--25159; CONF-950232--17
ON: DE95007282; TRN: 95:002140
DOE Contract Number:
AC06-76RL01830
Resource Type:
Conference
Resource Relation:
Conference: 6. American Nuclear Society meeting on robotics and remote systems,Monterey, CA (United States),5-10 Feb 1995; Other Information: PBD: Feb 1995
Research Org:
Pacific Northwest Lab., Richland, WA (United States)
Sponsoring Org:
USDOE, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; MECHANICAL VIBRATIONS; CONTROL SYSTEMS; DAMPING; INHIBITION 420203; HANDLING EQUIPMENT AND PROCEDURES