Inertial Vibration Damping of a Flexible Base Manipulator

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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
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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