Contact transition control of a flexible structure mounted manipulator

A flexible structure mounted manipulator (FSMM) is a robotic system that consists of a rigid manipulator installed on a supporting structure that is not rigid. Another robotic system which possesses similar dynamic characteristics is a micro-macromanipulator(MMM) in which a small (micro) manipulator...

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Main Authors: Theeraphong Wongratanaphisan, Matthew O T Cole
Format: Conference Proceeding
Published: 2018
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Online Access:https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84900591373&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/49060
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-490602018-08-16T02:09:07Z Contact transition control of a flexible structure mounted manipulator Theeraphong Wongratanaphisan Matthew O T Cole Engineering A flexible structure mounted manipulator (FSMM) is a robotic system that consists of a rigid manipulator installed on a supporting structure that is not rigid. Another robotic system which possesses similar dynamic characteristics is a micro-macromanipulator(MMM) in which a small (micro) manipulator, considered rigid, is mounted on the tip of a long-reach (macro) manipulator, considered flexible. Designing controllers for a FSMM or MMM is a difficult task as the motion of the flexible structure adds complexity to the system dynamics. It is especially difficult when the FSMM is required to interact with its environment. This paper investigates force control techniques for a FSMM in contact transition phase. Three types of controllers are compared: (1) discontinuous control, (2) impedance control, and (3) robust impedance control. These controllers were implemented and tested on a 2-DOF FSMM lab-scale prototype and their performance evaluated and discussed. © 2009 Springer Science+Business Media, B.V. 2018-08-16T02:09:07Z 2018-08-16T02:09:07Z 2009-12-01 Conference Proceeding 2-s2.0-84900591373 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84900591373&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/49060
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
topic Engineering
spellingShingle Engineering
Theeraphong Wongratanaphisan
Matthew O T Cole
Contact transition control of a flexible structure mounted manipulator
description A flexible structure mounted manipulator (FSMM) is a robotic system that consists of a rigid manipulator installed on a supporting structure that is not rigid. Another robotic system which possesses similar dynamic characteristics is a micro-macromanipulator(MMM) in which a small (micro) manipulator, considered rigid, is mounted on the tip of a long-reach (macro) manipulator, considered flexible. Designing controllers for a FSMM or MMM is a difficult task as the motion of the flexible structure adds complexity to the system dynamics. It is especially difficult when the FSMM is required to interact with its environment. This paper investigates force control techniques for a FSMM in contact transition phase. Three types of controllers are compared: (1) discontinuous control, (2) impedance control, and (3) robust impedance control. These controllers were implemented and tested on a 2-DOF FSMM lab-scale prototype and their performance evaluated and discussed. © 2009 Springer Science+Business Media, B.V.
format Conference Proceeding
author Theeraphong Wongratanaphisan
Matthew O T Cole
author_facet Theeraphong Wongratanaphisan
Matthew O T Cole
author_sort Theeraphong Wongratanaphisan
title Contact transition control of a flexible structure mounted manipulator
title_short Contact transition control of a flexible structure mounted manipulator
title_full Contact transition control of a flexible structure mounted manipulator
title_fullStr Contact transition control of a flexible structure mounted manipulator
title_full_unstemmed Contact transition control of a flexible structure mounted manipulator
title_sort contact transition control of a flexible structure mounted manipulator
publishDate 2018
url https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84900591373&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/49060
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