Title:
Vibration cancellation in complex support structures for precision robots

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dc.contributor.author Rhim, Sungsoo 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 2011-06-10T19:30:01Z
dc.date.available 2011-06-10T19:30:01Z
dc.date.issued 1997-11
dc.description © 1997 ASME en_US
dc.description Presented at the at the ASME International Mechanical Engineering Congress and Exposition (IMECE), Dallas, TX, Nov. 16-21, 1997. en_US
dc.description.abstract This paper examined the effectiveness of the Optimal Arbitrary Time-delay filter applied to cancel the undesired elastic modes of vibration in complex supporting structures for precision robot which is under development. To achieve the desired positioning precision, suppressing the structure vibration is essential. For this to be done OAT filter method was chosen. Modeling of the system has been performed and using this model, simulations were done without and with OAT filter. The ability of OAT filter in canceling the vibration of the structure was demonstrated in the simulation results. And to verify this results, experiment involving OAT filter within the robot control system has been done on the current version of the precision robot. Even though the dynamics response of supporting structure in the precision robot system has an inherent characteristics of small magnitude and high value of natural frequencies, response due to the filtered command showed that the filter successfully reduced vibration in magnitude and got rid of the residual vibrations faster than the response with unfiltered command. en_US
dc.identifier.citation Rhim, Sungsoo and Wayne Book, “Vibration Cancellation in Complex Support Structures for Precision Robots,” DSC Vol. 61 Proceedings of the ASME Dynamic Systems and Control Division, presented at the ASME International Mechanical Engineering Congress and Exposition (IMECE), Dallas, TX, Nov. 16-21, 1997, pp 503-509. en_US
dc.identifier.uri http://hdl.handle.net/1853/39073
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 Vibration reduction en_US
dc.subject Precision robots en_US
dc.subject Positioning precision en_US
dc.subject Optimal Arbitrary Time delay filtering en_US
dc.title Vibration cancellation in complex support structures for precision robots en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-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 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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