Inertial vibration damping control of a flexible base manipulator
โ Scribed by L.E. George; W.J. Book
- Book ID
- 117923809
- Publisher
- IEEE
- Year
- 2003
- Tongue
- English
- Weight
- 439 KB
- Volume
- 8
- Category
- Article
- ISSN
- 1083-4435
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๐ SIMILAR VOLUMES
In spatial 3D flexible manipulators, some parameters change, depending upon the arm's configuration. The relationship between vibrations and actuators might be configuration-dependent. Therefore, such configuration dependency has to be considered in the control of 3D spatial flexible manipulators. L
In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H~ control scheme, in order to guarantee the controlled system robust against u