Title :
Vibration reduction using a two-step braking profile
Author :
Al Assad, Omar ; Ferreira, Carlos Martinez ; Croulard, Vincent ; Godoy, Emmanuel
Author_Institution :
Vascular Positionner Eng. Dept., GE Healthcare, Buc, France
Abstract :
In this paper, a new stopping approach used for residual vibration reduction of slightly flexible robot arms is presented. This technique, using two steps braking, is proposed for a wide class of mechatronic applications with structural flexibilities that demand high dynamic performance. This new method was validated experimentally on a slightly flexible robot used for medical imaging.
Keywords :
flexible manipulators; manipulator dynamics; motion control; vibration control; flexible robot arm dynamics; mechatronic application; residual vibration reduction; stopping approach; structural flexibility; two-step motion braking profile; Biomedical imaging; Defense industry; Industrial control; Medical robotics; Orbital robotics; Robot sensing systems; Service robots; Springs; Torque; Vibration control;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160420
