Corrective input shaping for a flexible-joint manipulatorperforming point-to-point motion

摘要

This work presents a technique to develop shaped torque profilesfor a two-link flexible-joint robot based on corrective finite-timeLaplace transforms. The profiles obtained using this approach canminimize the influence of the time-varying natural frequencies of themanipulator as it moves along the specified trajectory while minimizingendpoint vibrations