DocumentCode
487856
Title
Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm
Author
Book, Wayne J. ; Lee, Soo Han
Author_Institution
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology
fYear
1989
fDate
21-23 June 1989
Firstpage
1377
Lastpage
1380
Abstract
The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.
Keywords
Actuators; Automatic control; Books; Equations; Manipulator dynamics; Motion control; Perturbation methods; Robotics and automation; Robots; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1989
Conference_Location
Pittsburgh, PA, USA
Type
conf
Filename
4790404
Link To Document