Corrective input shaping for a flexible-joint manipulator

摘要

Presents a technique to develop shaped torque profiles for a two-link flexible-joint robot based on corrective finite-time Laplace transforms. Torque profiles are obtained for several intervals spanning the move time. Constraints are imposed so that the torque profiles are continuous between intervals. The resulting torque inputs minimize the influence of the time-varying natural frequencies of the manipulator as it moves along the specified trajectory while minimizing endpoint vibrations.