Filtering micro-manipulator wrist commands to prevent flexible base motion

Author

Magee, David P. ; Book, Wayne J.

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

1

fYear

1995

fDate

21-23 Jun 1995

Firstpage

924

Abstract

This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation torques can be found to maneuver the small robot with minimal residual vibration of its base. This paper develops a new filter form with the advantage of shorter delay times than current input shaping methods. Experimental results show the effectiveness of the new filtering technique to prevent vibration when used as part of a feedback control system

Keywords

FIR filters; closed loop systems; filtering theory; manipulators; position control; vibration control; actuation torques; articulating robot; feedback control system; filtering; finite impulse response filter; flexible base motion; flexible manipulator; joint position error shaping; micro-manipulator wrist commands; position control; residual vibration control; Delay effects; Feedback control; Filtering; Finite impulse response filter; Manipulator dynamics; Poles and zeros; Robots; Robustness; Vibrations; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.529383

Filename

529383