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

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Description

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 ... continued below

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25 p.

Creation Information

Lew, J.Y.; Cannon, D.W.; Magee, D.P. & Book, W.J. September 1, 1995.

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  • Pacific Northwest Laboratory
    Publisher Info: Pacific Northwest Lab., Richland, WA (United States)
    Place of Publication: Richland, Washington

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Description

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.

Physical Description

25 p.

Notes

INIS; OSTI as DE96001341

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  • Other Information: PBD: Sep 1995

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  • Other: DE96001341
  • Report No.: PNL--10757
  • Grant Number: AC06-76RL01830
  • DOI: 10.2172/115635 | External Link
  • Office of Scientific & Technical Information Report Number: 115635
  • Archival Resource Key: ark:/67531/metadc621192

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • September 1, 1995

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

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  • April 7, 2016, 6:40 p.m.

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Lew, J.Y.; Cannon, D.W.; Magee, D.P. & Book, W.J. Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches, report, September 1, 1995; Richland, Washington. (digital.library.unt.edu/ark:/67531/metadc621192/: accessed October 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.