Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/75057
Title: On the design of joint trajectory for a flexible-link robot
Authors: Yang, H.
Ang Jr., M.H. 
Krishnan, H. 
Issue Date: 1998
Source: Yang, H.,Ang Jr., M.H.,Krishnan, H. (1998). On the design of joint trajectory for a flexible-link robot. Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments : 22-28. ScholarBank@NUS Repository.
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.
Source Title: Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments
URI: http://scholarbank.nus.edu.sg/handle/10635/75057
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

14
checked on Feb 16, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.