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Compensation manipulator flexibility effects by modal space techniques

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1 Author(s)
Karkkainen, Paavo ; Technical Research Centre of Finland, Oulu, Finland

The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985