Combined Command Shaping and Inertial Damping for Flexure Control

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38986

Title: Combined Command Shaping and Inertial Damping for Flexure Control
Author: Magee, David P. ; Cannon, David W. ; Book, Wayne John
Abstract: This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the level of vibration will be minimized during the robot motion and the inertial damping removes any residual effects after the motion is complete. Experimental results from two different test beds verifY the effectiveness of the combined approach for minimizing vibration in elastic systems.
Description: ©1997 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 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM. DOI: 10.1109/ACC.1997.610610
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/38986
ISSN: 0743-1619
ISBN: 0-7803-3832-4
Citation: Magee, David, David Cannon, and Wayne Book, “Combined Command Shaping and Inertial Damping for Flexure Control,” invited paper, Proceedings of the 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM, 1330-1334.
Date: 1997-06
Contributor: Texas Instruments Incorporated
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: Command shaping
Flexible manipulators
Vibration control
Small robots

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