Inertial force damping control by micro-manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The damping controller, developed using classical control theory, is added to the existing control system. Real-time measurements of macro-manipulator flexibility are used to adjust the motion of the micro-manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible-link manipulator testbed demonstrate the effectiveness of the proposed control scheme for both vertical and horizontal plane vibration.
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Lew et al. (1996) studied this question.
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