Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

[+] Author and Article Information
I. Sharf

Department of Mechanical Engineering, University of Victoria, Victoria, British Columbia, Canada V8W 3P6

J. Dyn. Sys., Meas., Control 118(4), 704-713 (Dec 01, 1996) (10 pages) doi:10.1115/1.2802346 History: Received October 26, 1994; Online December 03, 2007


This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

Copyright © 1996 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In