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Title: Control of a tip-loaded flexible-link robot using shaped input command
Authors: Yang, H.
Ang Jr., M.H. 
Krishnan, H. 
Issue Date: 1998
Citation: Yang, H.,Ang Jr., M.H.,Krishnan, H. (1998). Control of a tip-loaded flexible-link robot using shaped input command. Proceedings of the American Control Conference 5 : 3075-3076. ScholarBank@NUS Repository.
Abstract: A residual vibration-free joint trajectory is derived for a flexible-link robot with tip-loaded mass. The command trajectory combines weighted cosine signals of different frequencies, where the weights are calculated by solving a set of linear equations and the frequencies are determined by the mode frequencies of the flexible link. Simulation and experiments have been carried out to test the method presented in this paper. The results have confirmed that our method eliminates residual vibration effectively. © 1998 AACC.
Source Title: Proceedings of the American Control Conference
ISBN: 0780345304
ISSN: 07431619
DOI: 10.1109/ACC.1998.688423
Appears in Collections:Staff Publications

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