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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610610
