The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.


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    Titel :

    Robot Vibration Control Using Inertial Damping Forces


    Beteiligte:
    S. H. Lee (Autor:in) / W. J. Book (Autor:in)

    Erscheinungsdatum :

    1989


    Format / Umfang :

    8 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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