Active Vibration Control of a Flexible Base Manipulator

Abstract

A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) robot 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 micromanipulator positioning combined with vibration damping of the base. Inertial interaction forces and torques acting at the base of the rigid robot were studied to determine how to use them to damp the base vibration.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 2002
Accession Number
ADA407232

Entities

People

  • Lynnane E. George

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy
  • Counter WMD
  • Space

DTIC Thesaurus Topics

  • Actuators
  • Air Force
  • Angular Acceleration
  • Centrifugal Force
  • Closed Loop Systems
  • Control Systems
  • Crystal Structure
  • Differential Equations
  • Equations Of Motion
  • Hydraulic Actuators
  • Measurement
  • Modulus Of Elasticity
  • Partial Differential Equations
  • Resonant Frequency
  • Shear Modulus
  • Spacecraft
  • Vibration

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy