Vibration Control of Redundant Flexible-Joint ManipulatorsSource: Journal of Manufacturing Science and Engineering:;1997:;volume( 119 ):;issue: 001::page 119Author:Fengfeng Xi
DOI: 10.1115/1.2836549Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: 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.
keyword(s): Vibration control , Manipulators , Vibration , Generators , Optimization , Inertia (Mechanics) , Computer simulation , Redundancy (Engineering) AND Trajectories (Physics) ,
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| contributor author | Fengfeng Xi | |
| date accessioned | 2017-05-08T23:54:10Z | |
| date available | 2017-05-08T23:54:10Z | |
| date copyright | February, 1997 | |
| date issued | 1997 | |
| identifier issn | 1087-1357 | |
| identifier other | JMSEFK-27293#119_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/119082 | |
| description abstract | 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Vibration Control of Redundant Flexible-Joint Manipulators | |
| type | Journal Paper | |
| journal volume | 119 | |
| journal issue | 1 | |
| journal title | Journal of Manufacturing Science and Engineering | |
| identifier doi | 10.1115/1.2836549 | |
| journal fristpage | 119 | |
| journal lastpage | 125 | |
| identifier eissn | 1528-8935 | |
| keywords | Vibration control | |
| keywords | Manipulators | |
| keywords | Vibration | |
| keywords | Generators | |
| keywords | Optimization | |
| keywords | Inertia (Mechanics) | |
| keywords | Computer simulation | |
| keywords | Redundancy (Engineering) AND Trajectories (Physics) | |
| tree | Journal of Manufacturing Science and Engineering:;1997:;volume( 119 ):;issue: 001 | |
| contenttype | Fulltext |