Robotics Commons^™

Command Shaping With Constrained Peak Input Acceleration To Minimize Residual Vibration In A Flexible-Joint Robot, Yumeng Wu

Open Access Theses

Rapid point-to-point motion is limited when flexibilities exist in the system. In order to minimize the vibrations related to joint flexibilities, much work has been done, including modifying the system so that vibrations can be damped out more quickly, calculating the inverse dynamics of the system and constructing shaped input profiles that avoid system natural frequencies. In this work, the earlier fixed-time command shaping method has been extended to a peak-acceleration-constrained approach with two basis functions, the ramped sinusoid function and the versine function, such that the maximum acceleration is guaranteed without overconstraining the input profiles. The approach is developed …