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
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;
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
DOI :
10.1109/ICSMC.1993.390881
