Digital filter control of remotely operated flexible robotic structures
Conference
·
OSTI ID:6706644
This paper presents an infinite impulse response (IIR) filtering technique for reducing structural vibration in remotely operated robotic systems. The technique uses a discrete filter between the operator's joy stick and the robot controller to alter the inputs of the system so that residual vibration and swing are reduced. A linearized plant model of the system is analyzed in the discrete time domain, and the filter is designed using pole-zero placement in the z-plane. This technique has been successfully applied to a two link flexible arm and a gantry crane with a suspended payload.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6706644
- Report Number(s):
- SAND-92-1630C; CONF-930403-19; ON: DE93007587
- Resource Relation:
- Conference: 5. topical meeting on robotics and remote systems, Knoxville, TN (United States), 26-29 Apr 1993
- Country of Publication:
- United States
- Language:
- English
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