Inertial Vibration Damping Control of a Flexible Base Manipulator

Show full item record

Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/39274

Title: Inertial Vibration Damping Control 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 interfere with positioning accuracy. A rigid manipulator attached to a flexible but un actuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. Ineltial interaction forces and torques acting between the robot and its base were modeled and studied to determine how to use them to damp the vibration. One issue is that there are locations in the workspace where the rigid robot loses its ability to create interactions in one or more degrees of freedom. These "ineltial singularities" are functions of the rigid robot's joint variables. A performance index was developed to predict the ability of the rigid robot to damp vibrations and will help ensure the robot is operating in joint space configurations favorable for inertial damping. It is shown that when the performance index is used along with the appropriate choice of feedback gains, the inertia effects, or those directly due to accelerating the robot's links, have the greatest influence on the interactions. By commanding the robot link's accelerations propOitional to the base velocity, vibration energy will be removed from the system. This signal is then added to the rigid robot's position control signal. Simulations of a three-degree of freedom anthropomorphic rigid robot mounted on a flexible base were developed and show the effectiveness of the control scheme. In addition, results from two degree of freedom vibration damping are included.
Description: DOI:10.1115/IMECE2002-33533 © 2002 ASME Presented at the 2002 ASME International Mechanical Engineering Congress and Exposition, November 17 - 22, 2002, New Orleans, Louisiana.
Type: Proceedings
Pre-print
URI: http://hdl.handle.net/1853/39274
ISBN: 0-7918-3629-0
Citation: George, Lynnane E. and Wayne J. Book, "Inertial Vibration Damping of a Flexible Base Manipulator," 2002 ASME International Mechanical Engineering Congress and Exposition. Proceedings of the ASME Dynamic Systems and Control Division - 2002, Paper no. IMECE2002-33533, pp. 347-354.
Date: 2002-11
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
American Society of Mechanical Engineers
Subject: Macro/micromanipulator
Inertial vibration damping
Inertial singularity
Flexible manipulator
Active vibration control

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
INERTIAL VIBRAT ... XIBLE BASE MANIPULATOR.pdf 636.6Kb PDF View/ Open

This item appears in the following Collection(s)

Show full item record