RESIDUAL VIBRATION SUPPRESSION OF A FLEXIBLE JOINT SYSTEM USING A SYSTEMATIC COMMAND SHAPING TECHNIQUE

摘要

This study focuses on an input command shaping methodology to reduce residual vibrations of a Flexible Joint-Single Link (FJ-SL) manipulator in an open loop control sense. The proposed methodology is based on superimposing a ramp onto a cycloid function, which is commonly used as a high speed cam profile, in order to reduce the vibrations of an FJ-SL manipulator remaining at the end of its move to a desired position. This method is applied to a flexible joint single link manipulator, simulation and experimental results are presented. The results reveal that by properly planning the command input, residual vibration of the manipulator tip is eliminated or reduced significantly without changing the specified travelling time. This methodology which is practical and effective in reducing the residual vibrations of systems containing significant amount of compliance can be extended to other robotic systems with multi-flexible joints.