On the design of joint trajectory for a flexible-link robot

被引：0
|
作者：
Yang, H [1 ]
Ang, MH [1 ]
Krishnan, H [1 ]
机构：
[1] Natl Univ Singapore, Dept Mech & Prod Engn, Singapore 119260, Singapore
来源：
ROBOTICS 98 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A joint trajectory for point-to-point motion control of a flexible-link robot with a lip loaded mass is derived in this paper, A feedback control system is designed so as to make the robot joint follow this trajectory which results residual vibration-free response. The design is simple The finite time duration in which the desired motion of the joins angle is achieved, along with elimination of the residual vibration, can be arbitrarily specified This offers options for various practical considerations Experimental results have confirmed the effectiveness of the control approach presented in this paper.
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页码：22 / 28
页数：5
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