DocumentCode
290804
Title
Control of robots with lightweight links using positive modal feedback
Author
Sardar, Hemant M. ; Paul, Frank W.
Author_Institution
Dept. of Mech. Eng., Clemson Univ., SC, USA
fYear
1993
fDate
17-20 Oct 1993
Firstpage
379
Abstract
In previous papers (1990, 1991), the authors had developed a fully coupled, nonlinear dynamic model of a two degree of freedom manipulator with a lightweight link. The present paper considers a single degree of motion of such a manipulator to evaluate the effectiveness of the positive modal feedback scheme in suppressing the modal vibrations of the link. Simulation and experimental results are presented which demonstrate that the proposed scheme suppresses link vibrations rapidly, without affecting the rigid mode response
Keywords
feedback; nonlinear dynamical systems; robots; vibration control; 2-d.o.f. manipulator; fully coupled nonlinear dynamic model; lightweight links; link vibrations; modal vibration suppression; positive modal feedback; rigid mode response; robots; Control systems; Feedback; Lighting control; Manipulator dynamics; Mechanical variables control; Optimal control; Payloads; Resonant frequency; Robot control; Vibrations;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.390881
Filename
390881
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