Robot Vibration Control Using Inertial Damping Forces
نویسنده
چکیده
منابع مشابه
Inertial Vibration Damping of a Flexible Base Manipulator*
A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the ...
متن کاملDynamic Modelling of Flexible Payloads Manipulated by a Smart gripper in robotic assembly
During robotic assembly of flexible payloads, gravity and inertial forces acting on these payloads may induce both static shape deformation and vibration of the thin-walled payloads. Static deformations, which arise from deformation of the part due to its own weight under the influence of gravity, lead to misalignment of mating points of the part. Unwanted vibrations, arising from inertial forc...
متن کاملهمکاری رباتها در جابجایی جسم نامعین توسط کنترلر امپدانسچندگانه
Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...
متن کاملExperimental study on micro/macro manipulator vibration control
This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro flexible link test bed. Inertial damping and command filtering techniques are implemented simultaneously to form a robust controller that results in minimal residual vibration ...
متن کاملVibration analysis of base structure on SINS using PZT actuators
A steel plate bonded with lead zirconate titanate (PZT) actuators was studied on the basis of finite element methods (FEMs). The damping amplitudes of this plate bonded with PZT actuators were obtained at different locations and under different control conditions by analyzing the distribution of the PZT plate’s strain tensor in the first 4 modes. Furthermore, to reduce the unwanted disturbance ...
متن کامل