Tracking control of the hydraulically actuated flexible manipulator

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Description

The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as ... continued below

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9 p.

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Kwon, D.S.; Babcock, S.M.; Burks, B.L. & Kress, R.L. March 1, 1995.

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Description

The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ``feedforward simulation filter`` that uses embedded simulation, has been presented.

Physical Description

9 p.

Notes

INIS; OSTI as DE95008683

Source

  • 1995 international conference on robotics and automation, Nagoya (Japan), 21-27 May 1995

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  • Other: DE95008683
  • Report No.: CONF-9505193--2
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 33128
  • Archival Resource Key: ark:/67531/metadc677853

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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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  • March 1, 1995

Added to The UNT Digital Library

  • July 25, 2015, 2:20 a.m.

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  • Jan. 25, 2016, 5:06 p.m.

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Kwon, D.S.; Babcock, S.M.; Burks, B.L. & Kress, R.L. Tracking control of the hydraulically actuated flexible manipulator, article, March 1, 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc677853/: accessed December 12, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.