Preshaped trajectories for residual vibration suppression in payloads suspended from multiple robot manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 2, 2004, Pages 1599-1603

  Smith, R ^a   Starr, G ^a   Lumia, R ^a   Wood, J ^a  

^a MSC01 1070   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTER SIMULATION; CONVOLUTION; DEGREES OF FREEDOM (MECHANICS); ELECTRIC EXCITATION; EQUATIONS OF MOTION; IMPULSE TESTING; MULTIPURPOSE ROBOTS; NATURAL FREQUENCIES; NOTCH FILTERS; POLYNOMIALS; POTENTIAL ENERGY; VIBRATIONS (MECHANICAL);

DUAL MANIPULATORS; OSCILLATORY SYSTEMS; PAYLOADS; RESIDUAL VIBRATION SUPPRESSIONS;

END EFFECTORS;

EID: 3042538987     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308052     Document Type: Conference Paper

References (6)

1. D.M. Aspinwall, Acceleration Profiles for Minimizing Residual Response, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 3-6, 1980.
2. H. Baruh, Analytical Dynamics, McGraw-Hill, Boston, pp. 253-260, 1999.
3. N.C. Singer and W.P. Seering, Preshaping Command Inputs to Reduce System Vibration, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, pp.76-82, March 1990.
4. O.J.M Smith, Posicast Control of Damped Oscillatory Systems, Proceedings of the IRE, pp. 1249-1255, 1957.
5. G.P. Starr, Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 107, pp. 97-100, 1985.
6. D.R. Strip, Swing-Free Transport of Suspended Objects: A General Treatment, IEEE Transactions on Robotics and Automation, Vol. 5, No. 2, pp. 234-236, April 1989.