Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration

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Title: Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration
Author: Magee, David P. ; Book, Wayne John
Abstract: The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small articulated robot mounted on a long reach manipulator. However, the motion of the small arm tends to excite the vibrational modes of the larger structure. This paper presents several applications of a finite impulse response (FIR) compensation filter within the micromanipulator's joint feedback control structure to suppress the structure's flexible behavior. Simulation results of filtering a Schilling manipulator's azimuth joint commands while mounted on the tip of a long slender beam verify the effectiveness of the proposed control strategies.
Description: ©2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 1994 American Control Conference, June-1 July 1994. DOI: 10.1109/ACC.1994.735016
Type: Proceedings
ISSN: 0743-1619
ISBN: 0-7803-1783-1
Citation: David P. Magee and Wayne J. Book, "Filtering Schilling manipulator commands to prevent flexible structure, American Control Conference, 1994, Vol. 3, 2538- 2542.
Date: 2002-06
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Nuclear sites
Nuclear materials
Articulated robots

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