Title :
Corrective input shaping for a flexible-joint manipulator
Author :
Kinceler, Roberto ; Meckl, Peter H.
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
Presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. Torque profiles are obtained for several intervals spanning the move time. Constraints are imposed so that the torque profiles are continuous between intervals. The resulting torque inputs minimize the influence of the time-varying natural frequencies of the manipulator as it moves along the specified trajectory while minimizing endpoint vibrations
Keywords :
Laplace transforms; manipulator dynamics; position control; vibration control; corrective finite-time Laplace transforms; corrective input shaping; endpoint vibrations; shaped torque profiles; time-varying natural frequencies; two-link flexible-joint robot; Adaptive control; Control systems; Damping; Feedback control; Frequency; Manipulators; Mechanical engineering; Robots; Torque; Vibration control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610612
