| 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 | |
