Vibration control of a micro/macro-manipulator system

Author

Lew, Jae Y. ; Trudnowski, Dan J.

Author_Institution

Pacific Northwest Lab., Richland, WA, USA

Volume

16

Issue

1

fYear

1996

fDate

2/1/1996 12:00:00 AM

Firstpage

26

Lastpage

31

Abstract

Inertial force damping control by micro-manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The damping controller, developed using classical control theory, is added to the existing control system. Real-time measurements of macro-manipulator flexibility are used to adjust the motion of the micro-manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible-link manipulator testbed demonstrate the effectiveness of the proposed control scheme for both vertical and horizontal plane vibration

Keywords

manipulators; micromechanical devices; vibration control; classical control theory; damping controller; horizontal plane vibration; inertial force damping control; micro-manipulator modulation; micro/macro-manipulator system; real-time flexibility measurements; structural vibrations; vertical plane vibration; vibration control; Actuators; Bandwidth; Control systems; Damping; Force control; Manipulators; Motion measurement; Testing; Vibration control; Vibration measurement;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.482134

Filename

482134