Command Generation for Reducing Perceived Lag in Flexible Telerobotic Arms

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概要

• 論文の詳細を見る

• Telerobotic arms with flexible dynamics respond to operator commands in a somewhat unpredictable manner. The deflections and oscillations can pose a safety hazard if the arms are operated aggressively. On the other hand, they can decrease productivity if the operator acts in an overly conservative manner to accommodate the behavior. The nexible dynamics can be reduced through the use of input shaping;however, a time lag is introduced in the system response. This paper presents input shaping methods that reduce the apparent lag experienced by the operator.

• 一般社団法人日本機械学会の論文
• 2000-09-15

著者

• SINGHOSE William

  Georgia Institute of Technology

• Singhose William

  Georgia Institute Of Technology Department Of Mechanical Engineering

• GROSSER Karen

  Design Engineer, Schlumberger, 14910 Airline Rd.

• Grosser Karen

  Design Engineer Schlumberger 14910 Airline Rd.

関連論文

• エレクトロダイナミックテザー推進における電流入力整形
• Command Generation for Reducing Perceived Lag in Flexible Telerobotic Arms
• OPTIMIZATION OF LIGHTLY DAMPED PICK-AND-PLACE PROCESSES USING OPTIMAL DYNAMIC-VIBRATION-ABSORBERS

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