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Configuration-dependent controllability of flexible manipulators

  • Section 9 Space Robotics And Flexible Manipulators
  • Conference paper
  • First Online:
Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

In this paper, we discuss the controllability of the structural vibration of flexible manipulators. In the spatial flexible manipulator, some parameters change depending upon the arm's configuration. Ease of vibration suppression is configuration-dependent. We have defined the controllability of the structural vibration of flexible manipulators in our previous study. In order to understand the physical interpretation of vibration uncontrollable configurations, we propose the “modal accessibility” concept which indicates how well the actuators can affect the mode. The configuration in which all actuators are unable to affect at least one of the vibration modes of the manipulator is vibration uncontrollable. To clarify this point, we performed experiments. Experimental results show that all actuators can't suppress at least one of the structural vibration modes in the vibration uncontrollable configurations.

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References

  1. M. Uchiyama and A. Konno. Computed Acceleration Control for Vibration Suppression of Flexible Robot Manipulators. Proc. 5th Int. Conf. on Advanced Robotics, pp. 126–131, 1991.

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  2. S. Tosunoglu, S. H. Lin, and D. Tesar. Accessibility and Controllability of Flexible Robotic Manipulators. Trans. of ASME, J. of Dynamic Systems, Measurement and Control, 114:50–58, 1992.

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  3. L. Meirovitch. DYNAMICS AND CONTROL OF STRUCTURES. John Wiley & Sons, Inc., 1990.

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  4. L. Meirovitch. Analytical Methods in Vibrations. Macmillan Publishing Co., Inc., 1967.

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  5. M. Uchiyama and A. Konno. Modeling of the Flexible Arm Dynamics Based on the Holzer's Method. Proc. RSJ 1st Robotics Symposium, pp. 247–252, 1991. (In Japanese).

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Author information

Authors and Affiliations

  1. Department of Aeronautics and Space Engineering, Tohoku University, Aramaki-aza-Aoba, Aoba-ku, 980, Sendai, Japan

    A. Konno, M. Uchiyama, Y. Kito & M. Murakami

Authors
  1. A. Konno
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  2. M. Uchiyama
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  3. Y. Kito
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  4. M. Murakami
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Konno, A., Uchiyama, M., Kito, Y., Murakami, M. (1994). Configuration-dependent controllability of flexible manipulators. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027619

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  • DOI: https://doi.org/10.1007/BFb0027619

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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