Active Vibration Control for Flexible Space Environment Use Manipulators

  • T. Komatsu
  • M. Uenoiiara
  • S. Iikura
  • H. Miura
  • I. Shimoyama
Conference paper
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)

Summary

A new dynamic control system for flexible space environment use manipulators has been developed from the practical viewpoint. The key concept in the proposed method is that the local position and torque PD feedback loop at each joint should be used for position and structural vibration control. First, the authors derived manipulator dynamics, and then feedback control was developed, using an appropriate potential function. Secondly, an experimental setup using an air suspended SCARA flexible manipulator is described. The effectiveness of this method has been verified by experimental results, adapting it to automatic payload handling.

Keywords

Torque Shipping 

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References

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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • T. Komatsu
    • 1
  • M. Uenoiiara
    • 1
  • S. Iikura
    • 1
  • H. Miura
    • 2
  • I. Shimoyama
    • 2
  1. 1.Mechanical Engineering LaboratoryResearch and Development Center, Toshiba CorporationJapan
  2. 2.Mechanical EngineeringThe University of TokyoJapan

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