Mechanical Engineering Commons^™

Motion Control Of Robotic Arm With Command Shaping Method, Yumeng Wu, Peter H. Meckl, Alok Agrawal

The Summer Undergraduate Research Fellowship (SURF) Symposium

In the manufacturing industry, lots of rapid point-to-point motion is required while the residual vibration is unfavorable. Residual vibrations caused by flexible elements are limiting the performance of mechanical system, especially when the system needs to make rapid point-to-point motion. As proved in earlier studies, avoiding natural frequencies of the mechanical system reduces the residual vibrations. This work is based on a non-linear, two-link flexible jointed robot with configuration dependent resonance. Command shaping method consisting different combinations of base functions and weighting factors are compared in this work. The compatibility of command shaping with classical feedback control structure allows a …