Preshaped trajectories for residual vibration suppression in payloads suspended from multiple robot manipulators

Several methods are available for generating input trajectories that eliminate residual vibrations for a variety of systems. These methods have been successfully applied to an assortment of both linear and non-linear situations. While multiple input systems have been addressed, the issue of developing residual vibration-suppressed input trajectories for cooperative manipulators has not been satisfactorily covered in the literature. This research focuses specifically on the problem of multiple cooperative manipulators working in conjunction to move a common payload. A method is determined by which multiple modes of residual vibration are suppressed, and an input trajectory is computed for dual manipulators which reduces residual vibrations by at least seventy-five percent.