DocumentCode
486328
Title
Path Modification for Flexible Manipulators
Author
Kärkkäinen, Paavo ; Manninen, Markku
Author_Institution
Technical Research Centre of Finland, Electronics Laboratory, SF-90101 Oulu, Finland
fYear
1985
fDate
19-21 June 1985
Firstpage
743
Lastpage
744
Abstract
A procedure to eliminate manipulator structural vibrations due to the flexibility is presented. Vibration control is achieved using off-line path generation which modifies the path profiles so that the excitation sources to the elastic behaviour of the manipulator will have minimum influence.
Keywords
Acceleration; Actuators; Damping; Equations; Force control; Manipulator dynamics; Motion control; Open loop systems; Trajectory; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1985
Conference_Location
Boston, MA, USA
Type
conf
Filename
4788712
Link To Document