Hostname: page-component-586b7cd67f-rdxmf Total loading time: 0 Render date: 2024-11-22T08:46:52.635Z Has data issue: false hasContentIssue false

Control of a rigid manipulator mounted on a compliant base

Published online by Cambridge University Press:  11 March 2005

H. Bassan
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: [email protected], [email protected], [email protected]
H. A. Talebi
Affiliation:
Department of Electrical Engineering, AmirKabir University of Technology, Tehran (Iran) 15914. E-mail: [email protected]
R. V. Patel
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: [email protected], [email protected], [email protected]
M. Moallem
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: [email protected], [email protected], [email protected]

Abstract

Structural flexibility is an inherent characteristic of a class of macro-micro manipulators consisting of a rigid micro manipulator mounted on a long-reach (flexible) macro manipulator. Vibrations caused by flexibility make it difficult to achieve accurate control of the end-point of the micro manipulator. In this paper, we develop a control strategy that can be applied to such a system. An experimental test-bed has been developed in which a 6 DOF PUMA 560 manipulator is mounted on a compliant platform. The control strategy consists of a rigid body inverse dynamics controller together with a neural network based strategy for damping out the oscillations due to the flexible base. Experimental results obtained from the test-bed are presented to show the effectiveness of the proposed control scheme.

Type
Research Article
Copyright
© 2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)