Telerobotic operation of structurally flexible, long-reach manipulators [electronic resource].

Published: Washington, D.C. : United States. Dept. of Energy, 1994.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description: 6 pages : digital, PDF file
Additional Creators: Oak Ridge National Laboratory, United States. Department of Energy, and United States. Department of Energy. Office of Scientific and Technical Information

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Summary

As a part of the Department of Energy`s Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated.

Report Numbers

E 1.99:conf-9310358--1
conf-9310358--1

Subject(s)

Engineering

Other Subject(s)

Note

Published through SciTech Connect.
09/01/1994.
"conf-9310358--1"
"DE94018971"
Korea automatic control conference,Seoul (Korea, Republic of),20-22 Oct 1993.
Kwon, D.S.; Babcock, S.M.; Hwang, D.H.

Funding Information

AC05-84OR21400

View MARC record | catkey: 14108865