A frequency matching algorithm for active damping of macro-micro manipulator vibrations

A new method of damping vibrations in large, flexible, macro-manipulators using a small, rigid, distal end micro-manipulator is introduced in this paper. This method, entitled frequency matching, is demonstrated experimentally on a planar macro-micro manipulator constructed at the University of Victoria. Its performance is compared to the pseudo-passive energy dissipation (P-PED) method proposed previously. The comparison shows that frequency matching outperforms P-PED in most nominal micro-manipulator configurations