TY - JOUR
T1 - Vibration controllability of flexible robot-payload systems
AU - Zhou, T.
AU - Zu, J. W.
AU - Goldenberg, A. A.
PY - 2000
Y1 - 2000
N2 - The system tackled in this paper consists of a rigid robotic manipulator and a flexible sheet metal payload being grasped at several points by the robot gripper. The dynamic model is first developed using the component mode synthesis method, and the vibration controllability of the flexible payload is discussed. It is concluded that some flexible states may become uncontrollable if the grasping points are located in the subspace of the payload modal nodes. In addition, given proper grasping of the payload and sufficient degrees of freedom of the robot, the flexible states are locally controllable in almost all of the robot workspace with the exception of some singular configurations. This result implies that vibration suppression control can be achieved by properly selecting the grasping points and robot moving path.
AB - The system tackled in this paper consists of a rigid robotic manipulator and a flexible sheet metal payload being grasped at several points by the robot gripper. The dynamic model is first developed using the component mode synthesis method, and the vibration controllability of the flexible payload is discussed. It is concluded that some flexible states may become uncontrollable if the grasping points are located in the subspace of the payload modal nodes. In addition, given proper grasping of the payload and sufficient degrees of freedom of the robot, the flexible states are locally controllable in almost all of the robot workspace with the exception of some singular configurations. This result implies that vibration suppression control can be achieved by properly selecting the grasping points and robot moving path.
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M3 - Conference article
AN - SCOPUS:0033706359
SN - 1050-4729
VL - 2
SP - 1484
EP - 1489
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - ICRA 2000: IEEE International Conference on Robotics and Automation
Y2 - 24 April 2000 through 28 April 2000
ER -