Title :
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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506546
