{"title":"Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm","authors":"W. Book, S. Lee","doi":"10.23919/ACC.1989.4790404","DOIUrl":null,"url":null,"abstract":"The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"744 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"43","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1989 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC.1989.4790404","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 43
Abstract
The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.
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