INERTIAL VIBRATION DAMPING OF A FLEXIBLE BASE MANIPULATOR

Abstract

A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make them susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. The interaction forces and torques acting between the robot and its flexible base were modeled and studied. When these interactions are properly controlled, damping can be added to the base.