Vibration Control of Redundant Flexible-Joint Manipulators

[+] Author and Article Information
Fengfeng Xi

Institute for Sensor & Control Technology, National Research Council Canada, Vancouver, BC, Canada, V6T 1W5

J. Manuf. Sci. Eng 119(1), 119-125 (Feb 01, 1997) (7 pages) doi:10.1115/1.2836549 History: Received July 01, 1994; Revised April 01, 1996; Online January 17, 2008


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.

Copyright © 1997 by The American Society of Mechanical Engineers
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