DocumentCode
2471754
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
fYear
2009
fDate
10-12 June 2009
Firstpage
3355
Lastpage
3356
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2009. ACC '09.
Conference_Location
St. Louis, MO
ISSN
0743-1619
Print_ISBN
978-1-4244-4523-3
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2009.5160420
Filename
5160420
Link To Document