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Trajectory determination for vibration-free motions of a flexible-joint robot

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2 Author(s)
Meckl, P.H. ; Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA ; Kinceler, R.

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.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994