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.
|Publication status||Published - 2010|
|Event||3rd Annual Dynamic Systems and Control Conference - Boston, MA, USA United States|
Duration: 13 Sep 2010 → 15 Sep 2010
|Conference||3rd Annual Dynamic Systems and Control Conference|
|Country||USA United States|
|Period||13/09/10 → 15/09/10|
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.