Combined command shaping and inertial damping for flexure control

被引：0
|
作者：
Magee, DP
Cannon, DW
Book, WJ
机构：
来源：
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1997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：
This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the level of vibration will be minimized during the robot motion and the inertial damping removes any residual effects after the motion is complete. Experimental results from two different test beds verify the effectiveness of the combined approach for minimizing vibration in elastic systems.
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页码：1330 / 1334
页数：5
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