Compensation manipulator flexibility effects by modals space techniques

Paavo Kärkkäinen

doi:10.1109/ROBOT.1985.1087286

Compensation manipulator flexibility effects by modals space techniques

Paavo Kärkkäinen

VTT Technical Research Centre of Finland

VTT (former employee or external)

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

12 Citations (Scopus)

Abstract

The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.

Original language	English
Title of host publication	1985 IEEE International Conference on Robotics and Automation
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	972-977
ISBN (Print)	978-0-8166-0615-3
DOIs	https://doi.org/10.1109/ROBOT.1985.1087286
Publication status	Published - 1985
MoE publication type	A4 Article in a conference publication
Event	1985 IEEE International Conference on Robotics and Automation - St. Louis, United States Duration: 25 Mar 1985 → 28 Mar 1985

Conference

Conference	1985 IEEE International Conference on Robotics and Automation
Country/Territory	United States
City	St. Louis
Period	25/03/85 → 28/03/85

Access to Document

10.1109/ROBOT.1985.1087286

Cite this

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title = "Compensation manipulator flexibility effects by modals space techniques",

abstract = "The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.",

author = "Paavo K{\"a}rkk{\"a}inen",

year = "1985",

doi = "10.1109/ROBOT.1985.1087286",

language = "English",

isbn = "978-0-8166-0615-3",

pages = "972--977",

booktitle = "1985 IEEE International Conference on Robotics and Automation",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "1985 IEEE International Conference on Robotics and Automation ; Conference date: 25-03-1985 Through 28-03-1985",

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Kärkkäinen, P 1985, Compensation manipulator flexibility effects by modals space techniques. in 1985 IEEE International Conference on Robotics and Automation. IEEE Institute of Electrical and Electronic Engineers, pp. 972-977, 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri, United States, 25/03/85. https://doi.org/10.1109/ROBOT.1985.1087286

TY - GEN

T1 - Compensation manipulator flexibility effects by modals space techniques

AU - Kärkkäinen, Paavo

PY - 1985

Y1 - 1985

N2 - The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.

AB - The effects of structural dynamics on the design of control model for a large manipulator are described. A method for the suppression of vibrational motion by using the independent modal space control is presented. When deriving a suitable control model, the real constraints of computer size, processing times and required sensors have to be noted. A practical model for a large manipulator aimed for forest applications is presented. Both theoretical simulations and experimental tests were carried out by this model. The implementation of the control consepts are briefly described.

U2 - 10.1109/ROBOT.1985.1087286

DO - 10.1109/ROBOT.1985.1087286

M3 - Conference article in proceedings

SN - 978-0-8166-0615-3

SP - 972

EP - 977

BT - 1985 IEEE International Conference on Robotics and Automation

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - 1985 IEEE International Conference on Robotics and Automation

Y2 - 25 March 1985 through 28 March 1985

ER -

Compensation manipulator flexibility effects by modals space techniques

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