Title :
Corrective input shaping for a flexible-joint manipulator performing point-to-point motion
Author :
Kinceler, Roberto ; Meckl, Peter H.
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
This work presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. The profiles obtained using this approach can minimize the influence of the time-varying natural frequencies of the manipulator as it moves along the specified trajectory while minimizing endpoint vibrations
Keywords :
Laplace transforms; flexible structures; manipulator dynamics; motion control; nonlinear systems; torque control; vibration control; corrective input shaping; finite-time Laplace transforms; flexible-joint manipulator; motion control; nonlinear dynamics; point-to-point motion; time varying systems; torque profiles; vibration control; Adaptive control; Damping; Feedback control; Frequency; Manipulators; Mechanical engineering; Programmable control; Robots; Shape control; Vibration control;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558823
