NDLI: Input shaping filter methods for the control of structurally flexible, long-reach manipulators

Content Provider	IEEE Xplore Digital Library
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	PDF
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

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

Waste tank cleanup manipulator modeling and control

Control issues related to bilateral teleoperation of long-reach, flexible manipulators

Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control

A new tunable fuzzy filter for image smoothing

Hybrid input shaping and PD-type Fuzzy Logic control scheme of a gantry crane system

Control of a Flexible Beam using Anticipatory Fuzzy Logic

Key Design Requirements for Long-Reach Manipulators

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

Similar Documents

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

Waste tank cleanup manipulator modeling and control

Control issues related to bilateral teleoperation of long-reach, flexible manipulators

Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control

A new tunable fuzzy filter for image smoothing

Hybrid input shaping and PD-type Fuzzy Logic control scheme of a gantry crane system

Control of a Flexible Beam using Anticipatory Fuzzy Logic

Key Design Requirements for Long-Reach Manipulators

Input shaping filter methods for the control of structurally flexible, long-reach manipulators