Title :
Path Modification for Flexible Manipulators
Author :
Kärkkäinen, Paavo ; Manninen, Markku
Author_Institution :
Technical Research Centre of Finland, Electronics Laboratory, SF-90101 Oulu, Finland
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;
Conference_Titel :
American Control Conference, 1985
Conference_Location :
Boston, MA, USA
