Comparison of fast frequency estimation methods for trajectory planning tuning

Several methods have been compared to estimate the dominant frequency of a flexible manipulator. Fast algebraic estimation techniques have proven to be faster than time-domain or FFT methods and, introducing a simplified model, quite easy to compute. While these methods are traditionally used to improve closed-loop algorithms, they have allowed the fast calibration of an open-loop trajectory planning algorithm that decreases significantly the level of vibrations at the end effector.