Filtering micro-manipulator wrist commands to prevent flexible base motion

Abstract

This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation torques can be found to maneuver the small robot with minimal residual vibration of its base. This paper develops a new filter form with the advantage of shorter delay times than current input shaping methods. Experimental results show the effectiveness of the new filtering technique to prevent vibration when used as part of a feedback control system.