A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering