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Variable-Velocity Exponential Input Shaping for Position Controlled Robotic Systems

[+] Author Affiliations
P. Iravani, M. N. Sahinkaya

University of Bath, Bath, United Kingdom

Paper No. DSCC2010-4209, pp. 345-351; 7 pages
doi:10.1115/DSCC2010-4209
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

This paper demonstrates a new form of Input Shaping for vibration reduction applied to robotic systems that manipulate flexible loads. The method is based on using an exponential function to define asymptotic and vibration-free trajectories for the flexible system. The required control input is calculated analytically by using inverse dynamics which ensures the desired end-effector trajectory. The method is demonstrated experimentally on the control of point-to-point movements of a robotic manipulator.

Copyright © 2010 by ASME
Topics: Robotics

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