Acceleration feedback control of compliant base manipulators

Abstract

Introduces an active damping control scheme for a robotic manipulator attached to a compliant base. By applying the proposed control, the manipulator generates its inertial force to compensate for base oscillation while following a desired position. The control scheme uses acceleration feedback and one-sample delayed torque to decouple the system, and then computes the fast and slow controller for rigid body motion and base oscillation based on two-time scale theory. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base in XY motion.