Optimized input shaping for a single flexible robot link

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Description

This paper will discuss the design of an input shaped open-loop control for a single flexible robot link. The authors develop the equations of motion, including the first flexible mode shape and the actuator dynamics. Additional content includes the hardware system identification iterative runs used to update the model. Optimized input shaped commands for the flexible robot link to produce a rest-to-rest, residual vibration-free, 90 degree maneuver are developed. Correlation between both experimental and analytical results of the 90{degree} slew, using two different identification models, are reviewed.

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5 p.

Creation Information

Wilson, D.G.; Stokes, D.; Starr, G. & Robinett, R.D. March 1, 1996.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper will discuss the design of an input shaped open-loop control for a single flexible robot link. The authors develop the equations of motion, including the first flexible mode shape and the actuator dynamics. Additional content includes the hardware system identification iterative runs used to update the model. Optimized input shaped commands for the flexible robot link to produce a rest-to-rest, residual vibration-free, 90 degree maneuver are developed. Correlation between both experimental and analytical results of the 90{degree} slew, using two different identification models, are reviewed.

Physical Description

5 p.

Notes

OSTI as DE96007058

Source

  • Space `96: 5. international conference and exposition on engineering, construction, and operations in space and 2. specialty conference on Robotics for challenging environments (RCE-II), Albuquerque, NM (United States), 1-6 Jun 1996

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  • Other: DE96007058
  • Report No.: SAND--96-0699C
  • Report No.: CONF-9606105--3
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 225066
  • Archival Resource Key: ark:/67531/metadc665715

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Creation Date

  • March 1, 1996

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

Description Last Updated

  • April 14, 2016, 9:15 p.m.

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Wilson, D.G.; Stokes, D.; Starr, G. & Robinett, R.D. Optimized input shaping for a single flexible robot link, article, March 1, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc665715/: accessed September 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.