Vibration control of redundant flexible-joint manipulators

被引：1
|
作者：
Xi, FF
机构：
[1] Institute for Sensor and Control Technology, National Research Council Canada, Vancouver, BC
来源：
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 1997年 / 119卷 / 01期
关键词：
D O I：
10.1115/1.2836549
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Presented ia 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.
引用
收藏
页码：119 / 125
页数：7
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