Variable-velocity exponential input shaping for position controlled robotic systems

Reference:

Iravani, P. and Sahinkaya, M. N., 2010. Variable-velocity exponential input shaping for position controlled robotic systems. In: 3rd Annual Dynamic Systems and Control Conference, 2010-09-13 - 2010-09-15, Boston, MA.

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Abstract

This paper demonstrates a new form of Input Shaping for vibration reduction in position controlled robotic systems. The method is based on using an exponential function that defines asymptotical trajectories. The required control input is calculated analytically by using inverse dynamics which ensures the desired end-effector trajectory with variable velocity. The method is demonstrated experimentally on the control of point-to-point movements of a position controlled robotic manipulator.

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