| Title: | Inertial Vibration Damping of a Flexible Base Manipulator |
| Author: | George, Lynnane E. ; Book, Wayne John |
| Abstract: | A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. . The interaction forces and torques acting between the robot and its flexible base were modeled and studied. Simulated and measured interactions generated at the base of a three degree of freedom rigid robot are compared. Simulated and experimental results are included that demonstrate with the proper control of these interactions, damping can be added to the base. |
| Description: |
©2004 by The Japan Society of Mechanical Engineers DOI: 10.1299/jsmec.46.798 |
| Type: | Article |
| URI: | http://hdl.handle.net/1853/39273 |
| ISSN: | 1344-7653 |
| Citation: | George, Lynanne and Wayne J. Book, “Inertial Vibration Damping of a Flexible Base Manipulator,” JSME International Journal Series C, Volume 46, Issue 3, pp. 798-806 (2003). |
| Date: | 2003 |
| Contributor: |
Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines |
| Publisher: |
Georgia Institute of Technology
Japan Society of Mechanical Engineers |
| Subject: |
Macro/micromanipulator
Inertial vibration damping Inertial singularity Flexible manipulator Active vibration control |
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| Inertial Vibrat ... xible Base Manipulator.pdf | 621.7Kb |
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