DocumentCode
2428137
Title
Trajectory determination for vibration-free motions of a flexible-joint robot
Author
Meckl, Peter H. ; Kinceler, Roberto
Author_Institution
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Volume
3
fYear
1994
fDate
29 June-1 July 1994
Firstpage
2521
Abstract
Acceleration profiles are developed for a two-link flexible-joint robot. These profiles generate point-to-point motion without residual vibration The command signals are derived using a minimum-energy performance index and solving the corresponding two-point boundary-value problem. By considering the full nonlinear dynamic model, this method determines input profiles that ensure minimum vibration when natural frequencies vary during the move.
Keywords
boundary-value problems; damping; flexible structures; performance index; robots; vibration control; acceleration profiles; boundary-value; minimum-energy performance index; nonlinear dynamic model; point-to-point motion; trajectory determination; two-link flexible-joint robot; two-point problem; vibration-free motions; Acceleration; Control systems; Damping; Feedback control; Frequency; Mechanical engineering; Performance analysis; Robot kinematics; Torque control; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.735013
Filename
735013
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