Inertial Vibration Damping of a Flexible Base Manipulator(<Special Issue>Advances in Motion and Vibration Control Technology)

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概要

• 論文の詳細を見る

• A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. The interaction forces and torques acting between the robot and its flexible base were modeled and studied. Simulated and measured interactions generated at the base of a three degree of freedom rigid robot are compared. Simulated and experimental results are included that demonstrate with the proper control of these interactions, damping can be added to the base.

• 一般社団法人日本機械学会の論文
• 2003-09-15

著者

• Book W

  Georgia Inst. Technol. Ga

• Book W

  Intelligent Machine Dynamics Laboratory George W. Woodruff School Of Mechanical Engineering Georgia

• Book Wayne

  Intelligent Machine Dynamics Laboratory George W. Woodruff School Of Mechanical Engineering Georgia

• GEORGE Lynnane

  Space Vehicles Directorate, US Air Force Research Laboratory

• George Lynnane

  Space Vehicles Directorate Us Air Force Research Laboratory

関連論文

• INERTIAL VIBRATION DAMPING OF A FLEXIBLE BASE MANIPULATOR
• Inertial Vibration Damping of a Flexible Base Manipulator(Advances in Motion and Vibration Control Technology)

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