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Content Provider | IEEE Xplore Digital Library |
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Author | Dong-Soo Kwon Dong-Hwan Hwang Babcock, S.M. Burks, B.L. |
Copyright Year | 1994 |
Description | Author affiliation: Robotics and Process Syst. Div., Oak Ridge Nat. Lab., TN, USA (Dong-Soo Kwon; Dong-Hwan Hwang; Babcock, S.M.; Burks, B.L.) |
Abstract | Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenges state-of-the-art equipment and methods. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operation, various types of shaping filter methods have been investigated. A robust notch filtering method and an impulse shaping method were used as simulation benchmarks. In addition to that, two very different approaches have been developed and compared. One new approach, referred to as a "feedforward simulation filter", uses imbedded simulation with complete knowledge of the system dynamics. The other approach, "fuzzy shaping method", employs a fuzzy logic method to modify the joint trajectory from the desired end-position trajectory without precise knowledge of the system dynamics. |
Starting Page | 3259 |
Ending Page | 3264 |
File Size | 467202 |
Page Count | 6 |
File Format | |
ISBN | 0818653302 |
DOI | 10.1109/ROBOT.1994.351069 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 1994-05-08 |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Filters Shape control Waste management US Department of Energy Radioactive waste Energy storage Payloads Robustness Filtering Fuzzy logic |
Content Type | Text |
Resource Type | Article |
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