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.
- Dynamic Systems and Control Division
Variable-Velocity Exponential Input Shaping for Position Controlled Robotic Systems
Iravani, P, & Sahinkaya, MN. "Variable-Velocity Exponential Input Shaping for Position Controlled Robotic Systems." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 345-351. ASME. https://doi.org/10.1115/DSCC2010-4209
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