Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...

The requirements for large robots in waste management and space applications necessitate active vibration control algorithms. The use of long, flexible links provides the needed range of motion but their inherent flexibility ...

A brief discussion introduces the original input shaping method applied to a system with varying parameters. A change in parameters causes a vibration in the system and a modified command shaping technique is created to ...

Active mass damping has been shown to be an effective method for reducing vibrations in flexible robots by previous researchers working on an experimental test bed at Georgia Tech. Acceleration feedback can cause instability ...

In manufacturing environments, a common task is to quickly move a suspended payload point-to-point along a fixed overhead conveyor track without inducing significant payload vibration. Recent research in command shaping ...

This paper examined the effectiveness of the Optimal Arbitrary Time-delay filter applied to cancel the undesired elastic modes of vibration in complex supporting structures for precision robot which is under development. ...

Since its introduction, the command shaping method to design command shapers as robust as possible based on the has been applied to the control of many types of flexible manipu- available infonnation on a given system ...

Time-delay command shaping filters for reducing the vibrational response of flexible systems are introduced and discussed. Special attention is given to the role played by robustness and adaptation in producing effective ...

The flexibility of long reach manipulators presents a difficult control problem when accurate endpoint position is required. To maintain a desired tip trajectory, the residual vibration inherent to flexible systems ...

This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large ...