Eliminating Multiple Modes of Vibration in a Flexible Manipulator

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dc.contributor.author Magee, David P.
dc.contributor.author Book, Wayne John
dc.date.accessioned 2011-06-17T19:29:16Z
dc.date.available 2011-06-17T19:29:16Z
dc.date.issued 1993-05
dc.identifier.citation Magee, D.P. and W.J. Book, "Eliminating Multiple Modes of Vibration in a Flexible Manipulator," Proceedings of the 1993 IEEE International Robotics and Automation Conference, Vol. 2, pp 474-479, Atlanta, GA, May 2 7, 1993. en_US
dc.identifier.isbn 0-8186-3450-2
dc.identifier.uri http://hdl.handle.net/1853/39180
dc.description (c) 1993 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Digital Object Identifier : 10.1109/ROBOT.1993.291912
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Flexible manipulators en_US
dc.subject Control systems en_US
dc.subject Vibration reduction en_US
dc.title Eliminating Multiple Modes of Vibration in a Flexible Manipulator en_US
dc.type Proceedings en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.original Institute of Electrical and Electronics Engineers


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