Inverse dynamics for commanding micromanipulator inertial forces to damp macromanipulator vibration

A multi degree of freedom manipulator can be commanded to generate base forces by utilization of the dynamic equations relating joint torques or joint accelerations to base forces. This can be extended to a full order case with three base moments and three base forces. In the experiments described two forces were sufficient to damp the fundamental modes. With a force command capability a variety of damping algorithms can be used to determine the desired force. A simple acceleration feedback algorithm was used which approximates a two degree of freedom dynamic vibration absorber where the damping coefficient can be adjusted by the acceleration feedback gain. The resulting damping ratio of the fundamental mode was increased by factors of between 18 and 191