Experimental study on micro/macro manipulator vibration control

Author

Cannon, David W. ; Magee, David P. ; Book, Wayne J. ; Lew, Jae Y.

Author_Institution

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

Volume

3

fYear

1996

Firstpage

2549

Abstract

This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro flexible link testbed. Inertial damping and command filtering techniques are implemented simultaneously to form a robust controller that results in minimal residual vibration due to commanded movements or external excitations. Experimental results show the effectiveness of both control techniques in their individual state as well as the improved performance resulting from their combination. The experimental results of the combined controller clearly show the advantages of each technique

Keywords

damping; feedback; feedforward; filtering theory; flexible structures; manipulators; robust control; two-term control; vibration control; command filtering techniques; flexible control techniques; inertial damping; micro/macro manipulator vibration control; residual vibration; robust controller; Books; Damping; Delay; Feedback; Filtering; Manipulators; Orbital robotics; Robust control; Testing; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506546

Filename

506546