Industrial robots are being used predominantly today for various purposes. By reducing the mass of the links of a robot, it is possible to improve its working speed and efficiency. Reduction in link mass, however, results in a lowering of stiffness, which causes problems such as a lack of precision in positioning due to the elastic deformation caused by gravity, or elastic vibrations. In this paper, it is shown that a smooth trajectory effectively reduces the elastic vibrations of a flexible manipulator. A preview control system presented previously is extended to a multiinput / multioutput case and is applied to the flexible manipulator to illustrate high tracking precision. Finally, the two schemes are combined to achieve precise tracking and good damping simultaneously.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing