Efficient control of a flexible robot arm by shaped inputs

C. F. Kuo, Chen-Yuan Kuo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Preshaping of input commands to a physical system is a well-known method to reduce vibrations induced in the system. In this paper, input shaping, often considered as an open loop vibration control concept, is combined with a feedback control structure to reduce residual vibrations in a flexible robot arm. Computer simulations show that this approach can achieve good performance with a closed loop bandwidth that is effectively six times the value of the first colocated zero.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Place of PublicationNew York, NY, United States
PublisherPubl by ASME
Pages261-270
Number of pages10
Volume38
ISBN (Print)0791810933
StatePublished - 1992
EventWinter Annual Meeting of the American Society of Mechanical Engineers - Anaheim, CA, USA
Duration: Nov 8 1992Nov 13 1992

Other

OtherWinter Annual Meeting of the American Society of Mechanical Engineers
CityAnaheim, CA, USA
Period11/8/9211/13/92

Fingerprint

Vibration control
Feedback control
Robots
Bandwidth
Computer simulation

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Kuo, C. F., & Kuo, C-Y. (1992). Efficient control of a flexible robot arm by shaped inputs. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 38, pp. 261-270). New York, NY, United States: Publ by ASME.

Efficient control of a flexible robot arm by shaped inputs. / Kuo, C. F.; Kuo, Chen-Yuan.

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Vol. 38 New York, NY, United States : Publ by ASME, 1992. p. 261-270.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kuo, CF & Kuo, C-Y 1992, Efficient control of a flexible robot arm by shaped inputs. in American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. vol. 38, Publ by ASME, New York, NY, United States, pp. 261-270, Winter Annual Meeting of the American Society of Mechanical Engineers, Anaheim, CA, USA, 11/8/92.
Kuo CF, Kuo C-Y. Efficient control of a flexible robot arm by shaped inputs. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Vol. 38. New York, NY, United States: Publ by ASME. 1992. p. 261-270
Kuo, C. F. ; Kuo, Chen-Yuan. / Efficient control of a flexible robot arm by shaped inputs. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Vol. 38 New York, NY, United States : Publ by ASME, 1992. pp. 261-270
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