Filtering micro-manipulator wrist commands to prevent flexible base motion

Abstract

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.

Disturbance Filtering and Identification on the Naval Postgraduate School 3-Axis Spacecraft Simulator

“…Ref. [10][11][12]. Conventional FIR and IIR filters have also been experimentally demonstrated to be effective in reducing residual vibrations (e.g.…”

Fractional dynamics in liquid manipulation

“…This approach was employed in manipulators that have been proposed for space applications and nuclear waste cleanup. Several authors have studied this technique [2], namely [3] and [4] that adopted the command filtering approach in order to position the micromanipulator. Also, [4] and [5] used inertial damping techniques taking advantage of a micro manipulator located at the end of a flexible link.…”

A Unified Approach to Robust Control of Flexible Mechanical Systems Using H-Infinity Control Powered by PD Control

“…The proposed method exploits a problem setting framework which is referred to as "generic problem setting" in the modeling phase and then, in the control design phase, H ∞ control powered by PD control. In the sense of control methodology, the underlying concept is pole-zero cancellation similarly with [Magee & Book (1995); Yano et al, (2001)], however the control design approach is totally different from ones in those works. On the other hand, although [Yano & Terashima (2001)] has employed H ∞ control, its usage is different from ours as explained later, and further the pole-zero cancellation is not the case in [Yano & Terashima (2001)].…”

“…So far, a lot of research efforts have been devoted to solve control problems of such flexible systems, one of the most typical problems among which is the problem of flexible robotic manipulators, e.g., [Sharon & Hardt (1984); Spong (1987); Wang & Vidyasagar (1990); Torres et al, (1994); Magee & Book (1995); Nenchev et al, (1996); Nenchev et al, (1997)]. As other types of applications, the problems of a crane system [Kang et al (1999)] and of a liquid container system [Yano & Terashima (2001); Yano et al, (2001)] have been investigated.…”

“…In [Wang & Vidyasagar (1990)], a passivity-based control method has been proposed for a single flexible link, and in [Spong (1987)] an exact-linearization method and an integral manifold method have been presented for a flexible-joint manipulator. The method in [Magee & Book (1995)] is based on input signal filtering where the underlying concept is pole-zero cancellation. [Ueda & Yoshikawa (2004)] has applied a mode-shape compensator based on acceleration feedback to a flexible-base manipulator.…”