DocumentCode
313076
Title
Combined command shaping and inertial damping for flexure control
Author
Magee, David P. ; Cannon, David W. ; Book, Wayne J.
Author_Institution
Texas Instrum. Inc., Dallas, TX, USA
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
1330
Abstract
Describes a control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the level of vibration will be minimized during the robot motion and the inertial damping removes any residual effects after the motion is complete. Experimental results from two different testbeds verify the effectiveness of the combined approach for minimizing vibration in elastic systems
Keywords
damping; distributed parameter systems; manipulators; micromechanical devices; vibration control; command shaping; elastic systems; flexible manipulator; flexure control; inertial damping; robot motion; small robots; Books; Damping; Delay; Filtering algorithms; Filters; Frequency; Mechanical engineering; Robustness; Shape control; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.610610
Filename
610610
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