Input shaping methods for telerobotic operation of flexible, long-reach manipulators [electronic resource].
- Washington, D.C. : United States. Dept. of Energy, 1994. and Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- 7 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
- Restrictions on Access:
- Free-to-read Unrestricted online access
- Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator`s high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics.
- Published through SciTech Connect., 09/01/1994., "conf-9310355--1", "DE94018972", Teleoperation `93 conference,New York, NY (United States),19-21 Oct 1993., and Babcock, S.M.; Kwon, Dong-Soo; Hwang, Dong-Hwan.
- Funding Information:
- AC05-84OR21400 and AC05-76OR00033
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