Title :
Trajectory determination for vibration-free motions of a flexible-joint robot
Author :
Meckl, Peter H. ; Kinceler, Roberto
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
fDate :
29 June-1 July 1994
Abstract :
Acceleration profiles are developed for a two-link flexible-joint robot. These profiles generate point-to-point motion without residual vibration The command signals are derived using a minimum-energy performance index and solving the corresponding two-point boundary-value problem. By considering the full nonlinear dynamic model, this method determines input profiles that ensure minimum vibration when natural frequencies vary during the move.
Keywords :
boundary-value problems; damping; flexible structures; performance index; robots; vibration control; acceleration profiles; boundary-value; minimum-energy performance index; nonlinear dynamic model; point-to-point motion; trajectory determination; two-link flexible-joint robot; two-point problem; vibration-free motions; Acceleration; Control systems; Damping; Feedback control; Frequency; Mechanical engineering; Performance analysis; Robot kinematics; Torque control; Vibration control;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.735013
