This work examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter, actuation torques can be found to maneuver the small robot with minimal residual vibration of its base. This paper develops a new filter form with the advantage of shorter delay times than current input shaping methods. Experimental results show the effectiveness of the new filtering technique to prevent vibration when used as part of a feedback control system.

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 testbed. Inertial damping and command filtering techniques are implemented simultaneously to form a robust controller that results in minimal residual vibration due to commanded movements or external excitations. Experimental results show the effectiveness of both control techniques in their individual state as well as the improved performance resulting Pom their combination. The experimental results of the combined controller clearly show the advantages of each technique.

This paper presents a new optimal filtering algorithm called the Optimal Arbitrary Time-delay (OAT) filter that has been designed to minimize the elastic behavior in serial link manipulators. However, as the analysis will show, the filtering algorithm can reduce the level of vibration in any system whose elastic motion can be modeled as a set of linear, ordinary differential equations with proportional damping. After analyzing some of the filter properties, experimental results demonstrate just how well the optimal filtering algorithm can minimize Vibration.

Ghosh and Kenny [3] ~hnullited the !: '.' . ' . ' . " .. , ' . effects of a torque wheel on the end of a tWo-link flexible i : ....The ~~~~di~tion ~nd manageme~t ofv~rious' ' . arm. The parameters of the flexible system were chosen to i. . ' .. nuclear sites will require inspection, rem~val and ..... ~eseI?-ble ~e Space Shuttle Remote .Manipulator. The i . ' , . . •.surveillance operations within many waste storage tanks .. • ... • mertIal deVIce was used to assist in vibration suppression. Due to thf! large dimensions,many tasks will be performed' . ' When abrupt start and stop commands are given by a• ! .• ........ • with a small articulated robot mounted on a longreaciz teleoperator. Although the method still perinits overshoot. manipulator: However, ihe.motion•ofthe:small arm tends . of the d~sired stop position, they conclude that the torque' , . toe:Xcite the vibrational modes of the larger structure. This _','; mechamsm can still be a valuable tool in long reach , .' . . :paper presents several applications oj a finite impul.Se . . .marupulator controL " . ' . . . . . . : , . '.' . '.' 'response (FIR) compensation fi#erwithin the micro-,:>.,•Trudriowski, . Baker . ~d Ev;iD.~[6l applied. ;.~. rr"anijJUiator~sjoint jeedbackconirof structure tosuppress~.daI:tlpmg contr9lto a computer model ciftherr long~reach . o. •t.he structure's flexible behavior. Simulation results of .......... ,. flexible manipulator test bed at Battelle Pacific. N~rthwest jiltering ci Schilling manipulator's az{muth joint commands . ' . , . L~boratory (PNL). The .test . bed• consisted of aSchillmg", : '. ' . )ilhile mounted on the tip ofa.iong slender beam verify the'" ". TItan 7Fmanipulator mounted on the end of a long flexibie .' ' .' :effectiveness of the proposed control strategIes.' . . '~:; 'energy, V; considered in this simulation is thedistri15uted: the differential equations can biewritten as' ' . •. ' .,' . '. >, potenti"al energy'related'totheflexibiepeam. The•drttiaL . , ." " ' , , " , ",' . . " ' . wor~ fcirth~ fest bed systein ,can be. expres~ed~ as,:. • ., ..

The requirements for large robots in waste mancgement ctd space mplications necessitate active vibrtion control lgorithms. The use of long, flexible links provides the needed range of motion but their inherent flexibility can generate undesirable vibrations making both control and endpoint positioning difficult. This pcper presents two shaing aigorithms, the impulse shaping method and the modified command filtering technique, to eliminae thefirst two modes ofvibrtiqn in a flexible maupulator. The vibration suppression cpabilities ae demonstraWed uing a large elliptic