Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches | Zendy

J.Y. Lew | Zendy; David W. Can | Zendy; David P. Magee | Zendy; Wayne J. Book | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches

Author(s) -

J.Y. Lew,

David W. Can,

David P. Magee,

Wayne J. Book

Publication year - 1995

Publication title -

osti oai (u.s. department of energy office of scientific and technical information)

Language(s) - English

Resource type - Reports

DOI - 10.2172/115635

Subject(s) - feed forward , testbed , macro , control theory (sociology) , vibration , input shaping , control engineering , robustness (evolution) , vibration control , computer science , inertial frame of reference , controller (irrigation) , feedback controller , active vibration control , fictitious force , engineering , control (management) , artificial intelligence , physics , computer network , agronomy , biochemistry , chemistry , quantum mechanics , biology , gene , programming language

Pacific Northwest Laboratory (PDL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: (1) modified input shaping and (2) inertial force active damping control. Modified input shaping (MIS) is used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IFAD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research