Acceleration feedback control of compliant base manipulators
Introduces an active damping control scheme for a robotic manipulator attached to a compliant base. By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and...
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| container_end_page | 1959 vol.3 |
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| container_issue | |
| container_start_page | 1955 |
| container_title | |
| container_volume | 3 |
| creator | Jae Young Lew Suk-Min Moon |
| description | Introduces an active damping control scheme for a robotic manipulator attached to a compliant base. By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and one-sample delayed torque to decouple the system, and then computes the fast and slow controller for rigid body motion and base oscillation based on two-time scale theory. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base in XY motion. |
| doi_str_mv | 10.1109/ACC.1999.786203 |
| format | Conference Proceeding |
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By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and one-sample delayed torque to decouple the system, and then computes the fast and slow controller for rigid body motion and base oscillation based on two-time scale theory. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base in XY motion.</description><identifier>ISSN: 0743-1619</identifier><identifier>ISBN: 9780780349902</identifier><identifier>ISBN: 0780349903</identifier><identifier>EISSN: 2378-5861</identifier><identifier>DOI: 10.1109/ACC.1999.786203</identifier><language>eng</language><publisher>IEEE</publisher><subject>Acceleration ; Control systems ; Damping ; Delay ; Feedback control ; Force control ; Manipulators ; Motion control ; Robots ; Torque control</subject><ispartof>Proceedings of the 1999 American Control Conference (Cat. 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By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and one-sample delayed torque to decouple the system, and then computes the fast and slow controller for rigid body motion and base oscillation based on two-time scale theory. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base in XY motion.</description><subject>Acceleration</subject><subject>Control systems</subject><subject>Damping</subject><subject>Delay</subject><subject>Feedback control</subject><subject>Force control</subject><subject>Manipulators</subject><subject>Motion control</subject><subject>Robots</subject><subject>Torque control</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>9780780349902</isbn><isbn>0780349903</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1999</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj81KxDAYRYM_YB1nLbjqC7R-X_4DbkpxVBhwM_shTROItk1p48K3tzDChXs298Al5BGhRgTz3LRtjcaYWmlJgV2RgjKlK6ElXpO9URq2MG4M0BtSgOKsQonmjtyv6xfANpVQkJfGOT_4xeaYpjJ433fWfZcuTXlJQ5nChuM8RDvlsrOrL0c7xflnsDkt6wO5DXZY_f6_d-R0eD2179Xx8-2jbY5V1CpXHXDtjHQcKOWgKbWIvJeMa4aUS2VEcFxSJYJQrNN9kL4XKJwN1EkOyHbk6aKN3vvzvMTRLr_ny232B12RSB8</recordid><startdate>1999</startdate><enddate>1999</enddate><creator>Jae Young Lew</creator><creator>Suk-Min Moon</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>1999</creationdate><title>Acceleration feedback control of compliant base manipulators</title><author>Jae Young Lew ; Suk-Min Moon</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i87t-b048c96c402240822a114d634831246795fc46275f573b8df6ed515caf2c64013</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1999</creationdate><topic>Acceleration</topic><topic>Control systems</topic><topic>Damping</topic><topic>Delay</topic><topic>Feedback control</topic><topic>Force control</topic><topic>Manipulators</topic><topic>Motion control</topic><topic>Robots</topic><topic>Torque control</topic><toplevel>online_resources</toplevel><creatorcontrib>Jae Young Lew</creatorcontrib><creatorcontrib>Suk-Min Moon</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jae Young Lew</au><au>Suk-Min Moon</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Acceleration feedback control of compliant base manipulators</atitle><btitle>Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)</btitle><stitle>ACC</stitle><date>1999</date><risdate>1999</risdate><volume>3</volume><spage>1955</spage><epage>1959 vol.3</epage><pages>1955-1959 vol.3</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>9780780349902</isbn><isbn>0780349903</isbn><abstract>Introduces an active damping control scheme for a robotic manipulator attached to a compliant base. By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and one-sample delayed torque to decouple the system, and then computes the fast and slow controller for rigid body motion and base oscillation based on two-time scale theory. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base in XY motion.</abstract><pub>IEEE</pub><doi>10.1109/ACC.1999.786203</doi></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 0743-1619 |
| ispartof | Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), 1999, Vol.3, p.1955-1959 vol.3 |
| issn | 0743-1619 2378-5861 |
| language | eng |
| recordid | cdi_ieee_primary_786203 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Acceleration Control systems Damping Delay Feedback control Force control Manipulators Motion control Robots Torque control |
| title | Acceleration feedback control of compliant base manipulators |
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