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dc.contributor.authorMagee, David P.
dc.contributor.authorBook, Wayne John
dc.date.accessioned2011-06-17T19:29:16Z
dc.date.available2011-06-17T19:29:16Z
dc.date.issued1993-05
dc.identifier.citationMagee, 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.isbn0-8186-3450-2
dc.identifier.urihttp://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.descriptionDigital Object Identifier : 10.1109/ROBOT.1993.291912
dc.description.abstractThe 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.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectFlexible manipulatorsen_US
dc.subjectControl systemsen_US
dc.subjectVibration reductionen_US
dc.titleEliminating Multiple Modes of Vibration in a Flexible Manipulatoren_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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