DocumentCode
313077
Title
Corrective input shaping for a flexible-joint manipulator
Author
Kinceler, Roberto ; Meckl, Peter H.
Author_Institution
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
1335
Abstract
Presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. Torque profiles are obtained for several intervals spanning the move time. Constraints are imposed so that the torque profiles are continuous between intervals. The resulting torque inputs 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; manipulator dynamics; position control; vibration control; corrective finite-time Laplace transforms; corrective input shaping; endpoint vibrations; shaped torque profiles; time-varying natural frequencies; two-link flexible-joint robot; Adaptive control; Control systems; Damping; Feedback control; Frequency; Manipulators; Mechanical engineering; Robots; Torque; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.610612
Filename
610612
Link To Document