Access Restriction

Author Kinceler, R. ♦ Meckl, P.H.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1996
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Frequency ♦ Robots ♦ Adaptive control ♦ Manipulators ♦ Feedback control ♦ Mechanical engineering ♦ Vibration control ♦ Damping ♦ Shape control ♦ Programmable control
Abstract This work presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. The profiles obtained using this approach can minimize the influence of the time-varying natural frequencies of the manipulator as it moves along the specified trajectory while minimizing endpoint vibrations.
Description Author affiliation: Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA (Kinceler, R.)
ISBN 0780329759
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1996-09-15
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 102.34 kB
Page Count 6
Starting Page 391
Ending Page 396

Source: IEEE Xplore Digital Library