Control of flexible manipulators with input shaping techniques

摘要

This chapter provides an overview of the use of real-time command shaping to limit vibration inflexible robotic systems. Smoothing of commands to reduce system vibration is an old idea. However, command shaping did not come into widespread use until inexpensive digital controllers were available to implement the techniques in real time. Shaped commands can address multiple resonant frequencies and can be designed to be very robust to system modelling errors. An array of examples illustrate the effect that these command shaping methods have on the performance of flexible systems.