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.
|Original language||English (US)|
|Number of pages||9|
|Journal||Proceedings of the American Control Conference|
|Volume||88 pt 1-3|
|Publication status||Published - 1988|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering