On the design of joint trajectory for a flexible-link robot

Abstract

A joint trajectory for point-to-point motion control of a flexible-link robot with a tip loaded mass is derived in this paper. A feedback control system is designed so as to make the robot joint follow this trajectory which results residual vibration-free response. The design is simple. The finite time duration in which the desired motion of the joint angle is achieved, along with elimination of the residual vibration, can be arbitrarily specified. This offers options for various practical considerations. Experimental results have confirmed the effectiveness of the control approach presented in this paper.