Combined command shaping and inertial damping for flexure control

Magee, David P.; Cannon, David W.; Book, Wayne J.

doi:10.1109/acc.1997.610610

Cited by 12 publications

(7 citation statements)

References 9 publications

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“…Control strategies, which try to avoid base vibrations by appropriate planning of the manipulator trajectory can be categorized as input shaping methods [8], [9]. However, for systems with unknown disturbances or with an initial excitation these kinds of strategies are insufficient [10]. In order to additionally suppress the vibrations once they occur it was proposed to combine input shaping methods with vibration suppression controllers [3], [10].…”

Section: Introductionmentioning

confidence: 99%

“…However, for systems with unknown disturbances or with an initial excitation these kinds of strategies are insufficient [10]. In order to additionally suppress the vibrations once they occur it was proposed to combine input shaping methods with vibration suppression controllers [3], [10]. The control design and stability considerations are often based on singular perturbation theory [11].…”

Section: Introductionmentioning

confidence: 99%

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On the Control of Translationally Flexible Base Manipulators

Garofalo

Beck

Klodmann

et al. 2020

2020 European Control Conference (ECC)

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This work considers the control of manipulators mounted on a translationally flexible base and extends a previous publication of the authors. The contribution is twofold. Firstly, based on the previously proposed coordinate transformation, a new control strategy is developed, which features two enhancements: The stiffness of the base is allowed to be nonlinear; A momentum-based strategy for vibration damping enables to avoid the feedback linearization, which was required to apply linear stability theory before. Secondly, the control strategies are evaluated in experiments for the first time. Experiments and simulations are used to validate the results and compare the two methods to related approaches.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On the Control of Translationally Flexible Base Manipulators

Garofalo

Beck

Klodmann

et al. 2020

2020 European Control Conference (ECC)

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“…To avoid the design of a single concurrent controller, the rigid links and the flexible links are regulated by independent controllers assuming that their dynamics are separated in time scales. This method has been applied by many researchers [14,[21][22][23][24][25][26][27][28][29] and proven effective in experimental studies. In particular, various tests were performed by Book and his colleagues at Georgia Tech [26][27][28][29] using the test bed located in the Intelligent Machine Dynamics Laboratory (IMDL), in which a micromanipulator, SAMII (Small Articulated Manipulator II), is mounted at the tip of a cantilevered beam fixed to the ceiling, the base motion of which is similar to that at the tip of a flexible manipulator with locked joints.…”

Section: Introductionmentioning

confidence: 99%

“…References [7,8] provide a survey for both feedforward and feedback controllers. Approaches that combine input shaping with feedback controllers have also been proposed in [13][14][15][16], in which shaped commands are tracked by feedback controllers.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Output Feedback Control of a Flexible Base Manipulator

Yang

Calise

Craig

2007

Journal of Guidance, Control, and Dynamics

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This paper considers augmentation of an existing inertial damping mechanism by neural network-based adaptive control, for controlling a micromanipulator that is serially attached to a macromanipulator. The approach is demonstrated using an experimental test bed in which the micromanipulator is mounted at the tip of a cantilevered beam that resembles a macromanipulator with its joint locked. The inertial damping control combines acceleration feedback with position control for the micromanipulator so as to simultaneously suppress vibrations caused by the flexible beam while achieving precise tip positioning. Neural network-based adaptive elements are employed to augment the inertial damping controller when the existing control system becomes deficient due to modeling errors and uncertain operating conditions. There were several design challenges that had to be faced from an adaptive control perspective. One challenge was the presence of a nonminimum phase zero in an output feedback adaptive control design setting in which the regulated output variable has zero relative degree. Other challenges included flexibility in the actuation devices, lack of control degrees of freedom, and high dimensionality of the system dynamics. In this paper we describe how we overcame these difficulties by modifying a previous augmenting adaptive approach to make it suitable for this application. Experimental results are provided to illustrate the effectiveness of the augmenting approach to adaptive output feedback control design.

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“…Active mass damping has been shown to be an effective method for reducing vibrations in flexible robots by previous researchers working on an experimental test bed at Georgia Tech [1], [2], [3], [4], [5]. The experimental test bed is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Stability in active mass damping control of a flexible robot

Krauss

Book

2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)

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Active mass damping has been shown to be an effective method for reducing vibrations in flexible robots by previous researchers working on an experimental test bed at Georgia Tech. Acceleration feedback can cause instability in this test bed. System identification and root locus analysis were used to detennine the causes of this instability. Several potential modifications to the system were simulated including 1) replacing accelerometers with position sensors, 2) remoying second order dynamics from the actuator, and 3) adding an additional accelerometer to use modal feedback.

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Combined command shaping and inertial damping for flexure control

Cited by 12 publications

References 9 publications

On the Control of Translationally Flexible Base Manipulators

On the Control of Translationally Flexible Base Manipulators

Adaptive Output Feedback Control of a Flexible Base Manipulator

Stability in active mass damping control of a flexible robot

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