Robot Vibration Control Using Inertial Damping Forces
Lee, Soo Han
Book, Wayne John
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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.