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Vibration Control for Manipulators on a Translationally Flexible Base

Beck, Fabian and Garofalo, Gianluca and Ott, Christian (2019) Vibration Control for Manipulators on a Translationally Flexible Base. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 20-24 May 2019, Montreal, Canada.

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Abstract

In this contribution the problem of vibration control is studied on the basis of a fundamental oscillatory system consisting of a mass spring system and an additional mass. The proposed control strategy couples the orbits of the two masses such that both masses stop, while simultaneously stabilizing the second mass to a desired equilibrium. Using a coordinate and input transformation, the control strategy is directly transferred to an n-link manipulator mounted on a base with linear translational stiffness. Using semidefinite Lyapunov functions and a conditional stability argument, it is shown that the proposed control strategy damps out base vibrations, while additionally achieving a desired configuration in the task-space. Finally, the proposed method is compared to a state-of-the-art approach using numerical simulations.

Item URL in elib:https://elib.dlr.de/127681/
Document Type:Conference or Workshop Item (Other)
Title:Vibration Control for Manipulators on a Translationally Flexible Base
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Beck, FabianFabian.Beck (at) dlr.dehttps://orcid.org/0000-0003-3239-5505
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2019
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Underactuated Robots; Flexible Robots; Dynamics
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:20-24 May 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Beck, Fabian
Deposited On:11 Jun 2019 11:36
Last Modified:11 Jun 2019 11:36

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