Title :
Input shaping for nonlinear systems
Author :
Kinceler, Roberto ; Meckl, Peter H.
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
Torque profiles that guarantee minimum residual vibration for point-to-point motions in a rigid-link flexible-joint manipulator have been developed using two different techniques: (1) the inverse dynamics formulation and, (2) an open-loop optimal approach. The torque profiles obtained by each technique are compared considering characteristics such as energy consumption, torque and trajectory profiles and sensitivity to parameter variations. Both methods produce torque profiles that achieve motion without residual vibration. The inverse dynamics formulation produces smoother link tip trajectories, while the optimal approach requires less input energy. Both methods are susceptible to parameter errors
Keywords :
manipulators; motion control; nonlinear systems; robot dynamics; torque control; vibration control; input shaping; inverse dynamics; nonlinear systems; parameter errors; point-to-point motions; residual vibration; rigid-link flexible-joint manipulator; torque profiles; trajectory profiles; Adaptive control; Feedback control; Frequency; Manipulator dynamics; Mechanical engineering; Nonlinear systems; Programmable control; Robots; Torque; Vibration control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529381