Title:
Robot Vibration Control Using Inertial Damping Forces
Robot Vibration Control Using Inertial Damping Forces
Author(s)
Lee, Soo Han
Book, Wayne J.
Book, Wayne J.
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Abstract
This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a
small robot which is located at the tip of the large robot. A controller for generating damping forces to a
large robot is designed based on the two time scale modeL The controller does not need to calculate the
quasi-steady-state variables and is efficient in computation. Simulation results show the effectiveness of the
inertial forces and the controller designed.
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Date Issued
1990-07
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Text
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Proceedings