NDLI: Preshaped trajectory command for fast repetitive PTP motion of PD-controlled flexible joint manipulators

Content Provider	IEEE Xplore Digital Library
Author	Jugn Hoon Lee Beom Hee Lee Sang Moo Lee Chi Youn Chung
Copyright Year	1997
Description	Author affiliation: Inst. of Autom. & Syst. Res., Seoul Nat. Univ., South Korea (Jugn Hoon Lee)
Abstract	For PD-controlled industrial robot manipulators performing point-to-point (PTP) motion, the effect of joint flexibility grows as the cycle time for the PTP motion increases. To reduce residual vibration induced by joint flexibility, a method of generating preshaped reference trajectory command is proposed. This preshaped reference trajectory command is developed from the given PTP motion and the parameters of given PD controller. Simulations show that low overshoot and short settling time in fast PTP motion is achieved by applying the preshaped trajectory reference command, without excessive control effort. This proposed method is readily applicable to PD-controlled industrial robots which perform repetitive fast PTP motions.
Starting Page	1546
Ending Page	1552
File Size	668813
Page Count	7
File Format	PDF
ISBN	0780341198
DOI	10.1109/IROS.1997.656564
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-09-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Manipulators PD control Motion control Feedback Torque Frequency Robotics and automation Error correction Vibration control
Content Type	Text
Resource Type	Article

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Preshaped trajectory command for fast repetitive PTP motion of PD-controlled flexible joint manipulators