Long reach manipulator systems (LRMS) can perform tasks in difficult to reach locations. They use a small and fast manipulator mounted on a large flexible structure that can vibrate, degrading the system performance. Control methods that use strain measurements of the flexible structure have been proposed to control the system’s position in spite of the supporting structure’s vibrations using a model of the structure that relates strains to displacements. Here the minimum number of strain sensors needed to accomplish this control and their optimal locations on the flexible supporting structure are determined. These locations have been selected to achieve high measurement resolution, to maximize the computational robustness and to minimize the error in the identification of the structure’s strain-displacement model. The results are validated with simulations and experiments using a six degree of freedom laboratory LRMS.
Skip Nav Destination
Article navigation
December 1997
Technical Papers
Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators
Constantinos Mavroidis,
Constantinos Mavroidis
Department of Mechanical and Aerospace Engineering, Rutgers University, PO Box 909, Piscataway, NJ 08855
Search for other works by this author on:
Steven Dubowsky,
Steven Dubowsky
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139
Search for other works by this author on:
Kevin Thomas
Kevin Thomas
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139
Search for other works by this author on:
Constantinos Mavroidis
Department of Mechanical and Aerospace Engineering, Rutgers University, PO Box 909, Piscataway, NJ 08855
Steven Dubowsky
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139
Kevin Thomas
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139
J. Dyn. Sys., Meas., Control. Dec 1997, 119(4): 718-726 (9 pages)
Published Online: December 1, 1997
Article history
Received:
March 21, 1996
Online:
December 3, 2007
Citation
Mavroidis, C., Dubowsky, S., and Thomas, K. (December 1, 1997). "Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators." ASME. J. Dyn. Sys., Meas., Control. December 1997; 119(4): 718–726. https://doi.org/10.1115/1.2802382
Download citation file:
Get Email Alerts
Cited By
Offset-Free Koopman Model Predictive Control of Thermal Comfort Regulation for A VRF-DOAS Combined System
J. Dyn. Sys., Meas., Control
Rejection of Sinusoidal Disturbances With Unknown Slowly Time-Varying Frequencies for Linear Time-Varying Systems
J. Dyn. Sys., Meas., Control (July 2024)
Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
J. Dyn. Sys., Meas., Control (July 2024)
Gas Path Fault Diagnosis of Turboshaft Engine Based on Novel Transfer Learning Methods
J. Dyn. Sys., Meas., Control (May 2024)
Related Articles
Optimal FIR Input Shaper Designs for Motion Control With Zero Residual Vibration
J. Dyn. Sys., Meas., Control (March,2011)
Robust Input Shaper Control Design for Parameter Variations in Flexible Structures
J. Dyn. Sys., Meas., Control (March,2000)
A Theory for Strain-Based Structural System Identification
J. Appl. Mech (July,2001)
Experimental Measurements Using Digital Image Correlation Methods: Brief Background and Perspective on Future Developments
J. Eng. Mater. Technol (January,2023)
Related Proceedings Papers
Related Chapters
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Performance Evaluation Through Laboratory and Field Tests
Computer Vision for Structural Dynamics and Health Monitoring
Static Deformations Budget
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume II: Stiffness and Metrology