Near-Minimum-Time Control of a Flexible One-Link Robot

In this paper, a digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results from numerical simulations are presented for links with two different sets of parameters. It is found that the `move-time´ for this algorithm is close to that for the time-optimal control. Also, the effects of control-spillover phenomenon which result in residual vibration are small.