Vibration Control of Redundant Flexible-Joint Manipulators
1997 ◽
Vol 119
(1)
◽
pp. 119-125
Keyword(s):
Presented in this paper is a method for controlling vibrations of a redundant flexible-joint manipulator. The main idea behind this method is to utilize joint redundancy to minimize the change in the manipulator inertia, so that a simple gain-fixed control law can be used to control joint vibrations. For this purpose, two optimal joint trajectory generators are proposed; one is based on the extended Jacobian method and the other is based on an optimization technique. Numerical simulations are provided to demonstrate the effectiveness of the proposed control method.
2020 ◽
Vol 42
(16)
◽
pp. 3135-3155
Keyword(s):
Keyword(s):
2016 ◽
Vol 363
◽
pp. 97-125
◽
Keyword(s):
2012 ◽
Vol 2012
◽
pp. 1-12
◽
2021 ◽
pp. 095440622110369
Keyword(s):
2020 ◽
Vol 234
(9)
◽
pp. 1868-1883