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
Hauptverfasser: Lew, J.Y., Moon, S.-M.
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Moon, S.-M.
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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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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