Variable-velocity exponential input shaping for position controlled robotic systems

Pejman Iravani; M Necip Sahinkaya

Variable-velocity exponential input shaping for position controlled robotic systems

Pejman Iravani, M Necip Sahinkaya

Department of Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

6 Citations (SciVal)

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 language	English
Publication status	Published - 2010
Event	3rd Annual Dynamic Systems and Control Conference - Boston, MA, USA United States Duration: 13 Sept 2010 → 15 Sept 2010

Conference

Conference	3rd Annual Dynamic Systems and Control Conference
Country/Territory	USA United States
City	Boston, MA
Period	13/09/10 → 15/09/10

Cite this

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title = "Variable-velocity exponential input shaping for position controlled robotic systems",

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.",

author = "Pejman Iravani and Sahinkaya, \{M Necip\}",

year = "2010",

language = "English",

note = "3rd Annual Dynamic Systems and Control Conference ; Conference date: 13-09-2010 Through 15-09-2010",

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TY - CONF

T1 - Variable-velocity exponential input shaping for position controlled robotic systems

AU - Iravani, Pejman

AU - Sahinkaya, M Necip

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/79958205583

M3 - Paper

T2 - 3rd Annual Dynamic Systems and Control Conference

Y2 - 13 September 2010 through 15 September 2010

ER -

Variable-velocity exponential input shaping for position controlled robotic systems

Abstract

Conference

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