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dc.contributor.authorGeorge, Lynnane E.en_US
dc.contributor.authorBook, Wayne Johnen_US
dc.date.accessioned2011-06-21T20:30:42Z
dc.date.available2011-06-21T20:30:42Z
dc.date.issued2003
dc.identifier.citationGeorge, 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).en_US
dc.identifier.issn1344-7653
dc.identifier.urihttp://hdl.handle.net/1853/39273
dc.description©2004 by The Japan Society of Mechanical Engineersen_US
dc.descriptionDOI: 10.1299/jsmec.46.798en_US
dc.description.abstractA 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectMacro/micromanipulatoren_US
dc.subjectInertial vibration dampingen_US
dc.subjectInertial singularityen_US
dc.subjectFlexible manipulatoren_US
dc.subjectActive vibration controlen_US
dc.titleInertial Vibration Damping of a Flexible Base Manipulatoren_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalJapan Society of Mechanical Engineersen_US


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