Command generation for reducing perceived lag in flexible telerobotic arms

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

Volumn 43, Issue 3, 2000, Pages 755-761

  Grosser, Karen E ^a   Singhose, William E ^b  

^a SCHLUMBERGER   (United States)

^b GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DAMPING; FREQUENCY RESPONSE; NATURAL FREQUENCIES; OSCILLATIONS; REMOTE CONTROL; VIBRATION CONTROL;

COMMAND GENERATION; SAFETY HAZARD; TELEROBOTIC ARMS;

ROBOTIC ARMS;

EID: 0034263128     PISSN: 13447653     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec.43.755     Document Type: Article

References (24)

1. Singer, N.C. and Seering, W.P., Preshaping Command Inputs to Reduce System Vibration, J. of Dynamic Sys., Measurement, and Control, Vol. 112 (1990), p. 76-82.
2. Smith, O.J.M., Posicast Control of Damped Oscillatory Systems, Proceedings of the IRE, Vol. 45 (1957), p. 1249-1255.
3. Smith, O.J.M., Feedback Control Systems, (1958), p. 331-345, McGraw-Hill Book Co., Inc., New York.
4. Tallman, G.H. and Smith, O.J.M., Analog Study of Dead-Beat Posicast Control, IRE Transactions on Automatic Control, (1958), p. 14-21.
5. Jansen, J.F., Control and Analysis of a Single-Link Flexible Beam with Experimental Verification, (1992), Oak Ridge National Laboratory.
6. Magee, D.P. and Book, W.J., Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion, in American Control Conf. 1995, Seattle, WA.
7. Feddema, J.T., Digital Filter Control of Remotely Operated Flexible Robotic Structures, in American Control Conf. 1993, San Francisco, CA: ACC.
8. Kress, R.L., Jansen, J.F. and Noakes, M.W., Experimental Implementation of a Robust Damped-Oscillation Control Algorithm on a Full Sized, Two-DOF, AC Induction Motor-Driven Crane, in 5th ISRAM., 1994, Maui, HA.
9. Singer, N., Singhose, W. and Kriikku, E., An Input Shaping Controller Enabling Cranes to Move Without Sway, in ANS 7th Topical Meeting on Robotics and Remote Systems, 1997, Augusta, GA.
10. Noakes, M.W. and Jansen, J.F., Generalized Inputs for Damped-Vibration Control of Suspended Payloads, Robotics and Autonomous Systems, Vol. 10, No. 2 (1992), p. 199-205.
11. Rappole, B.W., Singer, N.C. and Seering, W.P., Multiple-Mode Impulse Shaping Sequences for Reducing Residual Vibrations, in 23rd Biennial Mechanisms Conference, 1994, Minneapolis, MN.
12. Jones, S.D. and Ulsoy, A.G., Control Input Shaping for Coordinate Measuring Machines, in American Control Conf., (1994), Baltimore, MD: ACC.
13. Seth, N., Rattan, K. and Brandstetter, R., Vibration Control of a Coordinate Measuring Machine, in IEEE Conf. on Control Apps, 1993, Dayton, OH.
14. Singhose, W., Singer, N. and Seering, W., Improving Repeatability of Coordinate Measuring Machines with Shaped Command Signals, Precision Engineering, Vol. 18 (1996), p. 138-146.
15. Hillsley, K.L. and Yurkovich, S., Vibration Control of a Two-Link Flexible Robot Arm, J. of Dynamics and Control, Vol. 3 (1993), p. 261-280.
16. Feddema, J., et al., Control for Slosh-Free Motion of an Open Container, IEEE Control Systems, Vol. 17, No. 1 (1997), p. 29-36.
17. Drapeau, V. and Wang, D., Verification of a Closed-loop Shaped-input Controller for a Five-bar-linkage Manipulator, in IEEE Int. Conf. on Robotics and Automation, 1993, Atlanta, GA: IEEE.
18. Singhose, W. and Singer, N., Effects of Input Shaping on Two-Dimensional Trajectory Following, IEEE Trans. on Robotics and Automation, Vol. 12, No. 6 (1996), p. 881-887.
19. Bolz, R.E. and Tuve, G.L., CRC Handbook of Tables for Applied Engineering Science, (1973), p. 1071, Boca Raton, FL: CRC Press, Inc.
20. Singer, N.C. and Sering, W.P., An Extension of Command Shaping Methods for Controlling Residual Vibration Using Frequency Sampling, in IEEE International Conference on Robotics and Automation, (1992), Nice, France: IEEE.
21. Singhose, W.E., Seering, W.P. and Singer, N.C., Input Shaping for Vibration Reduction with Specified Insensitivity to Modeling Errors, in Japan-USA Sym. on Flexible Automation, 1996, Boston, MA.
22. Singhose, W., Seering, W. and Singer, N., Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs, J. of Mechanical Design, Vol. 116 (1994), p. 654-659.
23. Singhose, W., Singer, N. and Seering, W., Time-Optimal Negative Input Shapers, J. of Dynamic Systems, Measurement, and Control, Vol. 119 (1997), p. 198-205.
24. Pao, L. and Singhose, W., Unity Magnitude Input Shapers and Their Relation to Time-Optimal Control, in IFAC World Congress, (1996), San Francisco, CA.