Optimized input shaping for a single flexible robot link Metadata

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Title

  • Main Title Optimized input shaping for a single flexible robot link

Creator

  • Author: Wilson, D.G.
    Creator Type: Personal
  • Author: Stokes, D.
    Creator Type: Personal
  • Author: Starr, G.
    Creator Type: Personal
    Creator Info: New Mexico Univ., Albuquerque, NM (United States)
  • Author: Robinett, R.D.
    Creator Type: Personal
    Creator Info: Sandia National Labs., Albuquerque, NM (United States)

Contributor

  • Sponsor: United States. Department of Energy.
    Contributor Type: Organization
    Contributor Info: USDOE, Washington, DC (United States)

Publisher

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

Date

  • Creation: 1996-03-01

Language

  • English

Description

  • Content 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.

Subject

  • Keyword: Manipulators
  • Keyword: Robots
  • Keyword: Equations Of Motion
  • Keyword: Mathematical Models
  • Keyword: Control
  • Keyword: Optimization
  • Keyword: Dynamics
  • STI Subject Categories: 42 Engineering Not Included In Other Categories

Source

  • Conference: 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

Collection

  • Name: Office of Scientific & Technical Information Technical Reports
    Code: OSTI

Institution

  • Name: UNT Libraries Government Documents Department
    Code: UNTGD

Resource Type

  • Article

Format

  • Text

Identifier

  • 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

Note

  • Display Note: OSTI as DE96007058