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Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

Kim, MinJun and Lin, Jianjie and Kondak, Konstantin and Lee, Dongheui and Ott, Christian (2018) Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses. In: 12th International IFAC Symposium on Robot Control, 51 (22). 12th IFAC Symposium on Robot Control, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.590. ISSN 2405-8963.

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Official URL: https://www.sciencedirect.com/science/article/pii/S240589631833297X


This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic stability of the platform (which implies oscillation damping) is achieved by designing reference acceleration of the moving masses properly. A main feature of this work is that we can achieve asymptotic stability of not only the platform, but also the moving masses, which may be challenging due to the under-actuation nature. The proposed scheme is validated by the simulation studies.

Item URL in elib:https://elib.dlr.de/124919/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Lin, JianjieJianjie.Lin (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Lee, DongheuiDongheui.Lee (at) dlr.dehttps://orcid.org/0000-0003-1897-7664
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:13 December 2018
Journal or Publication Title:12th International IFAC Symposium on Robot Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1016/j.ifacol.2018.11.590
Series Name:IFAC-PapersOnLine
Keywords:Hanging platform, partial feedback linearization, aerial manipulation
Event Title:12th IFAC Symposium on Robot Control
Event Location:Budapest, Hungary
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kim, MinJun
Deposited On:14 Dec 2018 00:17
Last Modified:11 Mar 2022 15:24

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