Good vibrations: A vibration damping setpoint controller for continuum robots

I. A. Gravagne; Christopher D. Rahn; I. D. Walker

Good vibrations: A vibration damping setpoint controller for continuum robots

I. A. Gravagne, Christopher D. Rahn, I. D. Walker

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper, we focus on a class of robotic manipulators that utilize continuous backbone structures. Such manipulators, known as "continuum" robots, exhibit behavior similar to tentacles, trunks, and snakes. Specifically, we have previously discussed some of the mechanical and kinematic details of the Clemson "Tentacle Manipulator." This work examines the dynamic characteristics of this manipulator, proposing a vibration damping control strategy for configurations with the worst vibration characteristics. We begin by formulating the dynamics for one section of the Tentacle Manipulator. We then proceed to develop a new vibration control strategy which incorporates a setpoint regulator. We supplement the theoretical developments with experimental results.

Original language	English (US)
Pages (from-to)	3877-3884
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
State	Published - Jan 1 2001
Event	2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

@article{77692169d00e4ab1ae6353becd6ffd1a,

title = "Good vibrations: A vibration damping setpoint controller for continuum robots",

abstract = "In this paper, we focus on a class of robotic manipulators that utilize continuous backbone structures. Such manipulators, known as {"}continuum{"} robots, exhibit behavior similar to tentacles, trunks, and snakes. Specifically, we have previously discussed some of the mechanical and kinematic details of the Clemson {"}Tentacle Manipulator.{"} This work examines the dynamic characteristics of this manipulator, proposing a vibration damping control strategy for configurations with the worst vibration characteristics. We begin by formulating the dynamics for one section of the Tentacle Manipulator. We then proceed to develop a new vibration control strategy which incorporates a setpoint regulator. We supplement the theoretical developments with experimental results.",

author = "Gravagne, {I. A.} and Rahn, {Christopher D.} and Walker, {I. D.}",

year = "2001",

month = jan,

day = "1",

language = "English (US)",

volume = "4",

pages = "3877--3884",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2001 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 21-05-2001 Through 26-05-2001",

}

TY - JOUR

T1 - Good vibrations

T2 - 2001 IEEE International Conference on Robotics and Automation (ICRA)

AU - Gravagne, I. A.

AU - Rahn, Christopher D.

AU - Walker, I. D.

PY - 2001/1/1

Y1 - 2001/1/1

N2 - In this paper, we focus on a class of robotic manipulators that utilize continuous backbone structures. Such manipulators, known as "continuum" robots, exhibit behavior similar to tentacles, trunks, and snakes. Specifically, we have previously discussed some of the mechanical and kinematic details of the Clemson "Tentacle Manipulator." This work examines the dynamic characteristics of this manipulator, proposing a vibration damping control strategy for configurations with the worst vibration characteristics. We begin by formulating the dynamics for one section of the Tentacle Manipulator. We then proceed to develop a new vibration control strategy which incorporates a setpoint regulator. We supplement the theoretical developments with experimental results.

AB - In this paper, we focus on a class of robotic manipulators that utilize continuous backbone structures. Such manipulators, known as "continuum" robots, exhibit behavior similar to tentacles, trunks, and snakes. Specifically, we have previously discussed some of the mechanical and kinematic details of the Clemson "Tentacle Manipulator." This work examines the dynamic characteristics of this manipulator, proposing a vibration damping control strategy for configurations with the worst vibration characteristics. We begin by formulating the dynamics for one section of the Tentacle Manipulator. We then proceed to develop a new vibration control strategy which incorporates a setpoint regulator. We supplement the theoretical developments with experimental results.

UR - http://www.scopus.com/inward/record.url?scp=0034872352&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034872352&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0034872352

SN - 1050-4729

VL - 4

SP - 3877

EP - 3884

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

Y2 - 21 May 2001 through 26 May 2001

ER -

Good vibrations: A vibration damping setpoint controller for continuum robots

Abstract

All Science Journal Classification (ASJC) codes

Other files and links

Fingerprint

Cite this