A PARAMETER-BASED METHOD FOR DESIGNING INPUT SHAPERS FOR FLEXIBLE ROBOTIC SYSTEMS

摘要

The performance of many mechanical systems is often limited by their flexibility.rnOne method for counteracting the detrimental effects of flexibility is to generate commandsrnthat will not induce vibration. A system for which a moderately accurate dynamic model canrnbe constructed is generally a good candidate for a type of command generation called inputrnshaping. Traditional robust input shapers are designed based on anticipated deviations fromrnthe modeled natural frequencies. In this paper an input shaper is developed based on deviationsrnfrom physical parameters, rather than from frequencies. A two-link robotic arm is used torndemonstrate the effectiveness of the parameter-based shaper design method.