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    Inertial Vibration Damping of a Flexible Base Manipulator

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    Inertial Vibration Damping of a Flexible Base Manipulator.pdf (621.7Kb)
    Date
    2003
    Author
    George, Lynnane E.
    Book, Wayne John
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    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.
    URI
    http://hdl.handle.net/1853/39273
    Collections
    • Intelligent Machine Dynamics Laboratory [175]
    • Intelligent Machine Dynamics Laboratory Publications [175]

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