This paper presents the control method for vibration due to rotational motion of a casting manipulator. The casting accuracy of an end-effector, which is attached to the odd end of a wire rotated by the casting manipulator, significantly depends on the attitude at the release time. Further, the attitude of the casting manipulator is horizontally and vertically vibrated by the rotational motion if the rotational axis does not coincide with the position of the gravitational center of the rotated arm; consequently, the considerable casting error occurs. Hence, this paper mentions the vibration problem of the casting manipulator; first, we confirm the vibration experimentally; second, the casting error due to attitude shift is numerically analyzed; finally, the active vibration control method using an actuator is proposed. The vibration reduction due to the shift in yaw angle is particularly verified through the numerical calculation and the effectiveness of the active control is shown.
- Dynamic Systems and Control Division
Vibration Control for Casting Manipulator on Planetary Surface
Otsuki, M, Nishida, S, & Arisumi, H. "Vibration Control for Casting Manipulator on Planetary Surface." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 757-766. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8572
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