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

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

Fingerprint

Manipulators
Torque
Sensors
Robotic arms
Controllers
Identification (control systems)
Feedback

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Jain, S., & Khorrami, F. (1994). Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (pt 3 ed., pp. 2119-2124). Publ by IEEE.

Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems. / Jain, Sandeep; Khorrami, Farshad.

Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. pt 3. ed. Publ by IEEE, 1994. p. 2119-2124.

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

Jain, S & Khorrami, F 1994, Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. pt 3 edn, Publ by IEEE, pp. 2119-2124, Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4), San Diego, CA, USA, 5/8/94.
Jain S, Khorrami F. Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. pt 3 ed. Publ by IEEE. 1994. p. 2119-2124
Jain, Sandeep ; Khorrami, Farshad. / Vibration suppression of unknown flexible payloads using a wrist mounted force/torque sensor for remote manipulator systems. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. pt 3. ed. Publ by IEEE, 1994. pp. 2119-2124
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