A simple active damping control for compliant base manipulators
When a robotic manipulator is mounted to a crane, boom or mobile platform, it loses its accuracy and speed due to the compliance of the base. This paper presents a simple robust control strategy that will reduce mechanical vibrations and enable better tip positioning. The control algorithm uses the...
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Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2001-09, Vol.6 (3), p.305-310 |
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description | When a robotic manipulator is mounted to a crane, boom or mobile platform, it loses its accuracy and speed due to the compliance of the base. This paper presents a simple robust control strategy that will reduce mechanical vibrations and enable better tip positioning. The control algorithm uses the sensory feedback of the base oscillation to modulate the manipulator actuator input to induce the inertial damping forces. The authors' previous work (1999) demonstrated the feasibility of the proposed concept using linear analysis. This work extends the concept to a more general case of a nonlinear multiple link manipulator using acceleration feedback and one sample delayed torque. A simulation and an experimental study show very promising results for a test bed consisting of a two-link manipulator and a compliant base. |
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A simulation and an experimental study show very promising results for a test bed consisting of a two-link manipulator and a compliant base.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/3516.951368</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Acceleration ; Actuators ; Applied sciences ; Computer science; control theory; systems ; Control theory ; Control theory. 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This paper presents a simple robust control strategy that will reduce mechanical vibrations and enable better tip positioning. The control algorithm uses the sensory feedback of the base oscillation to modulate the manipulator actuator input to induce the inertial damping forces. The authors' previous work (1999) demonstrated the feasibility of the proposed concept using linear analysis. This work extends the concept to a more general case of a nonlinear multiple link manipulator using acceleration feedback and one sample delayed torque. A simulation and an experimental study show very promising results for a test bed consisting of a two-link manipulator and a compliant base.</description><subject>Acceleration</subject><subject>Actuators</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory</subject><subject>Control theory. Systems</subject><subject>Cranes</subject><subject>Damping</subject><subject>Exact sciences and technology</subject><subject>Force control</subject><subject>Force feedback</subject><subject>Fundamental areas of phenomenology (including applications)</subject><subject>Inertial</subject><subject>Manipulators</subject><subject>Mechatronics</subject><subject>Mobile robots</subject><subject>Optimal control</subject><subject>Oscillations</subject><subject>Physics</subject><subject>Robot arms</subject><subject>Robot sensing systems</subject><subject>Robust control</subject><subject>Robustness (control systems)</subject><subject>Sensory feedback</subject><subject>Solid mechanics</subject><subject>Structural and continuum mechanics</subject><subject>Torque</subject><subject>Vibration control</subject><subject>Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)</subject><subject>Vibrations and mechanical waves</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2001</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqN0UtLAzEQB_BFFKzVkzdPi4geZGsmr01OUoovKHhR8Lak2URS9mWyK_jtzdLiwYP1EDKQX4ZJ_klyCmgGgOQNYcBnkgHhYi-ZgKSQIaBv-7FGgmSUEnaYHIWwRghRQDBJbudpcHVXmVTp3n2atFR155r3VLdN79sqta2PdRRONX26UsGktWpcN1Sqb304Tg6sqoI52e7T5PX-7mXxmC2fH54W82WmGZZ9xggj1khrtLZalLkEIfNSEK0sEI2URUSSXDMJiPJSC1gxXZaYYaMUIcaQaXK16dv59mMwoS9qF7SpKtWYdgiFBMp5fBXZKXPKCVCEcZSXf0osOAhM2W7IJYuL_wfGDPJxyPNfcN0Ovok_WAhBc4liXBFdb5D2bQje2KLzrlb-qwBUjHkXY97FJu-oL7YtVdCqsl412oWfK4xLjPHIzjbMGWN-Trc9vgEifLAq</recordid><startdate>20010901</startdate><enddate>20010901</enddate><creator>Lew, J.Y.</creator><creator>Moon, S.-M.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Systems</topic><topic>Cranes</topic><topic>Damping</topic><topic>Exact sciences and technology</topic><topic>Force control</topic><topic>Force feedback</topic><topic>Fundamental areas of phenomenology (including applications)</topic><topic>Inertial</topic><topic>Manipulators</topic><topic>Mechatronics</topic><topic>Mobile robots</topic><topic>Optimal control</topic><topic>Oscillations</topic><topic>Physics</topic><topic>Robot arms</topic><topic>Robot sensing systems</topic><topic>Robust control</topic><topic>Robustness (control systems)</topic><topic>Sensory feedback</topic><topic>Solid mechanics</topic><topic>Structural and continuum mechanics</topic><topic>Torque</topic><topic>Vibration control</topic><topic>Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)</topic><topic>Vibrations and mechanical waves</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lew, J.Y.</creatorcontrib><creatorcontrib>Moon, S.-M.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>Mechanical Engineering Abstracts</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lew, J.Y.</au><au>Moon, S.-M.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A simple active damping control for compliant base manipulators</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2001-09-01</date><risdate>2001</risdate><volume>6</volume><issue>3</issue><spage>305</spage><epage>310</epage><pages>305-310</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>When a robotic manipulator is mounted to a crane, boom or mobile platform, it loses its accuracy and speed due to the compliance of the base. This paper presents a simple robust control strategy that will reduce mechanical vibrations and enable better tip positioning. The control algorithm uses the sensory feedback of the base oscillation to modulate the manipulator actuator input to induce the inertial damping forces. The authors' previous work (1999) demonstrated the feasibility of the proposed concept using linear analysis. This work extends the concept to a more general case of a nonlinear multiple link manipulator using acceleration feedback and one sample delayed torque. A simulation and an experimental study show very promising results for a test bed consisting of a two-link manipulator and a compliant base.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/3516.951368</doi><tpages>6</tpages></addata></record> |
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subjects | Acceleration Actuators Applied sciences Computer science control theory systems Control theory Control theory. Systems Cranes Damping Exact sciences and technology Force control Force feedback Fundamental areas of phenomenology (including applications) Inertial Manipulators Mechatronics Mobile robots Optimal control Oscillations Physics Robot arms Robot sensing systems Robust control Robustness (control systems) Sensory feedback Solid mechanics Structural and continuum mechanics Torque Vibration control Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...) Vibrations and mechanical waves |
title | A simple active damping control for compliant base manipulators |
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