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Micro manipulator motion control to suppress macro manipulator structural vibrations

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4 Author(s)
Lew, J.Y. ; Appl. Phys. Center, Pacific Northwest Lab., Richland, WA, USA ; Trudnowski, D.J. ; Evans, M.S. ; Bennett, D.W.

Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract the structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995