Near-Minimum-Time Control of a Manipulator with Flexible Links

Abstract

Equations of motion of a closed-type manipulator are derived in consideration of the bending of links and characteristics of the driving source. The control method is divided into two steps. The first is the fastest method for moving the manipulator from the initial position to the desired position, and the second is the method for attenuating the residual vibration of the system. Dynamic characteristics of the system controlled by this method are analyzed theoretically and investigated experimentally.