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.
Format:	Artikel
Sprache:	eng
Schlagworte:	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
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