Corrective input shaping for a flexible-joint manipulator performing point-to-point motion

This work presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. The profiles obtained using this approach can minimize the influence of the time-varying natural frequencies of the manipulator as it moves along t...

Full description

Saved in:
Bibliographic Details
Main Authors: Kinceler, R., Meckl, P.H.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Damping
Feedback control
Frequency
Manipulators
Mechanical engineering
Programmable control
Robots
Shape control
Vibration control
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This work presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. The profiles obtained using this approach can minimize the influence of the time-varying natural frequencies of the manipulator as it moves along the specified trajectory while minimizing endpoint vibrations.
DOI:10.1109/CCA.1996.558823