Combined command shaping and inertial damping for flexure control

Abstract

Describes a control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the level of vibration will be minimized during the robot motion and the inertial damping removes any residual effects after the motion is complete. Experimental results from two different testbeds verify the effectiveness of the combined approach for minimizing vibration in elastic systems.