Control of a tip-loaded flexible-link robot using shaped input command

A residual vibration-free joint trajectory is derived for a flexible-link robot with tip-loaded mass. The command trajectory combines weighted cosine signals of different frequencies, where the weights are calculated by solving a set of linear equations and the frequencies are determined by the mode frequencies of the flexible link. Simulation and experiments have been carried out to test the method presented. The results have confirmed that our method eliminates residual vibration effectively