Title:
Eliminating Multiple Modes of Vibration in a Flexible Manipulator
Eliminating Multiple Modes of Vibration in a Flexible Manipulator
Author(s)
Magee, David P.
Book, Wayne J.
Book, Wayne J.
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Abstract
The flexibility of long reach manipulators
presents a difficult control problem when accurate endpoint
position is required. To maintain a desired tip
trajectory, the residual vibration inherent to flexible
systems must be eliminated. Unfortunately, vibration
suppression is often difficult to achieve in systems whose
parameters are a function of configuration. This paper
discusses a modified command shaping technique that
eliminates the first two modes of vibration in a large,
flexible manipulator with position dependent parameters.
The elimination of residual vibration is demonstrated
using a circular trajectory located in the workspace of the
manipulator so that a significant change in system
properties occurs. The modified shaping technique will
be compared to previous control methods to demonstrate
its effectiveness in eliminating residual vibration.
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Date Issued
1993-05
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Proceedings