Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems

Sandeep Jain, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper. Control design based on neglecting the internal dynamics of the payload will result in degraded performance, increased task execution time, and even failure in performing tasks. At the same time, the characteristics of payloads to be handled vary with application. These considerations make it impractical to outfit the payload with sensors. A novel scheme utilizing a force torque sensor at the wrist of the manipulator is introduced in this paper. A controller utilizing the wrist torque feedback from the sensor is designed as a function of parameters of the payload dynamics. An adaptive scheme for online identification of these parameters and adaptation of controller parameters is discussed. The scheme is implemented on a single-link manipulator carrying a flexible unknown payload. Experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages2119-2124
Number of pages6
Editionpt 3
ISBN (Print)0818653329
StatePublished - 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems'. Together they form a unique fingerprint.

Cite this