Variable-velocity exponential input shaping for position controlled robotic systems

Pejman Iravani, M Necip Sahinkaya

Research output: Contribution to conferencePaper

5 Citations (Scopus)

Abstract

This paper demonstrates a new form of Input Shaping for vibration reduction in position controlled robotic systems. The method is based on using an exponential function that defines asymptotical trajectories. The required control input is calculated analytically by using inverse dynamics which ensures the desired end-effector trajectory with variable velocity. The method is demonstrated experimentally on the control of point-to-point movements of a position controlled robotic manipulator.
Original languageEnglish
Publication statusPublished - 2010
Event3rd Annual Dynamic Systems and Control Conference - Boston, MA, USA United States
Duration: 13 Sep 201015 Sep 2010

Conference

Conference3rd Annual Dynamic Systems and Control Conference
CountryUSA United States
CityBoston, MA
Period13/09/1015/09/10

Fingerprint

Robotics
Trajectories
Exponential functions
End effectors
Manipulators

Cite this

Iravani, P., & Sahinkaya, M. N. (2010). Variable-velocity exponential input shaping for position controlled robotic systems. Paper presented at 3rd Annual Dynamic Systems and Control Conference, Boston, MA, USA United States.

Variable-velocity exponential input shaping for position controlled robotic systems. / Iravani, Pejman; Sahinkaya, M Necip.

2010. Paper presented at 3rd Annual Dynamic Systems and Control Conference, Boston, MA, USA United States.

Research output: Contribution to conferencePaper

Iravani, P & Sahinkaya, MN 2010, 'Variable-velocity exponential input shaping for position controlled robotic systems' Paper presented at 3rd Annual Dynamic Systems and Control Conference, Boston, MA, USA United States, 13/09/10 - 15/09/10, .
Iravani P, Sahinkaya MN. Variable-velocity exponential input shaping for position controlled robotic systems. 2010. Paper presented at 3rd Annual Dynamic Systems and Control Conference, Boston, MA, USA United States.
Iravani, Pejman ; Sahinkaya, M Necip. / Variable-velocity exponential input shaping for position controlled robotic systems. Paper presented at 3rd Annual Dynamic Systems and Control Conference, Boston, MA, USA United States.
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