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two-link manipulator

Robotica (1)

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1 results

Residual vibration reduction for a flexible structure using a modified input shaping technique
Ki-Seong Lee, Youn-sik Park
Journal:

Robotica / Volume 20 / Issue 5 / September 2002

Published online by Cambridge University Press:

06 September 2002, pp. 553-561
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This paper presents a modified input shaping method to reduce the motion-induced vibration of a linear time-varying system after a rest-to-rest motion. Shaping parameters were obtained using the concept of modal-filtered impulse response. The conventional shaping method can be said just a special case of the proposed shaping method. The effectiveness of this proposing method was checked using some examples of both moderate and considerably fast time-varying systems. With a rest-to-rest motion control of a two-link flexible manipulator, this study also demonstrates that this method can be expanded to nonlinear cases.