Title:
Inertial Vibration Damping Control of a Flexible Base Manipulator

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dc.contributor.author George, Lynnane E. en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-21T20:30:44Z
dc.date.available 2011-06-21T20:30:44Z
dc.date.issued 2002-11
dc.description DOI:10.1115/IMECE2002-33533
dc.description © 2002 ASME en_US
dc.description Presented at the 2002 ASME International Mechanical Engineering Congress and Exposition, November 17 - 22, 2002, New Orleans, Louisiana. en_US
dc.description.abstract A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid manipulator attached to a flexible but un actuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. Ineltial interaction forces and torques acting between the robot and its base were modeled and studied to determine how to use them to damp the vibration. One issue is that there are locations in the workspace where the rigid robot loses its ability to create interactions in one or more degrees of freedom. These "ineltial singularities" are functions of the rigid robot's joint variables. A performance index was developed to predict the ability of the rigid robot to damp vibrations and will help ensure the robot is operating in joint space configurations favorable for inertial damping. It is shown that when the performance index is used along with the appropriate choice of feedback gains, the inertia effects, or those directly due to accelerating the robot's links, have the greatest influence on the interactions. By commanding the robot link's accelerations propOitional to the base velocity, vibration energy will be removed from the system. This signal is then added to the rigid robot's position control signal. Simulations of a three-degree of freedom anthropomorphic rigid robot mounted on a flexible base were developed and show the effectiveness of the control scheme. In addition, results from two degree of freedom vibration damping are included. en_US
dc.identifier.citation George, Lynnane E. and Wayne J. Book, "Inertial Vibration Damping of a Flexible Base Manipulator," 2002 ASME International Mechanical Engineering Congress and Exposition. Proceedings of the ASME Dynamic Systems and Control Division - 2002, Paper no. IMECE2002-33533, pp. 347-354. en_US
dc.identifier.isbn 0-7918-3629-0
dc.identifier.uri http://hdl.handle.net/1853/39274
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Society of Mechanical Engineers en_US
dc.subject Macro/micromanipulator en_US
dc.subject Inertial vibration damping en_US
dc.subject Inertial singularity en_US
dc.subject Flexible manipulator en_US
dc.subject Active vibration control en_US
dc.title Inertial Vibration Damping Control of a Flexible Base Manipulator en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Pre-print
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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