Residual vibration suppression of a flexible joint system using a systematic command shaping technique

被引:0
|
作者
Kapucu, Sadettin [1 ]
Baysec, Sedat
Alici, Guersel
机构
[1] Gaziantep Univ, Fac Engn, Dept Mech Engn, TR-27310 Gaziantep, Turkey
[2] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia
关键词
input motion shaping; open loop control; flexible joint manipulators; vibration elimination;
D O I
暂无
中图分类号
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号
07 ; 0710 ; 09 ;
摘要
This study focuses on an input command shaping methodology to reduce residual vibrations of a Flexible Joint-Single Link (FJ-SL) manipulator in an open loop control sense. The proposed methodology is based on superimposing a ramp onto a cycloid function, which is commonly used as a high speed cam profile, in order to reduce the vibrations of an FJ-SL manipulator remaining at the end of its move to a desired position. This method is applied to a flexible joint single link manipulator, simulation and experimental results are presented. The results reveal that by properly planning the command input, residual vibration of the manipulator tip is eliminated or reduced significantly without changing the specified travelling time. This methodology which is practical and effective in reducing the residual vibrations of systems containing significant amount of compliance can be extended to other robotic systems with multi-flexible joints.
引用
收藏
页码:139 / 152
页数:14
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