Active vibration control of a flexible base manipulator

Abstract

A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) robot is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve micromanipulator positioning combined with vibration damping of the base. Inertial interaction forces and torques acting at the base of the rigid robot were studied to determine how to use them to damp the base vibration.