Title :
A vibration control strategy for a boom-mounted manipulator system for high-speed positioning
Author :
Moallem, M. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada
Abstract :
We present a control scheme for high-speed vibration-free positioning of a system consisting of a rigid manipulator mounted on a flexible base. The objective is to move the end-point of this macro-micro manipulator system rapidly by proper motion of the micro-manipulator and without inducing structural vibrations when the joints of the flexible macro-manipulator are locked. It is shown by an example that the system is in general non-minimum phase. A control strategy is developed for rapid positioning of the end-effector of the micro-manipulator that will achieve the above goal. Simulation results are presented for a two-link manipulator mounted on a flexible boom
Keywords :
flexible manipulators; manipulator dynamics; micromanipulators; position control; vibration control; boom-mounted manipulator system; end-effector; flexible base; high-speed positioning; macro-micro manipulator system; rapid positioning; rigid manipulator; two-link manipulator; vibration control strategy; Actuators; Bandwidth; Books; Control systems; Councils; Damping; Filtering; Manipulator dynamics; Vibration control; Wrist;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813020
