Optimal filtering to minimize the elastic behavior in serial link manipulators

Proceedings of the American Control Conference

Volumn 5, Issue , 1998, Pages 2637-2642

  Magee, David P ^a   Book, Wayne J ^b  

^a TEXAS INSTRUMENTS   (United States)

^b GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ELASTIC BEHAVIOR; ELASTIC MOTIONS; FILTER PROPERTIES; FILTERING ALGORITHM; OPTIMAL FILTERING; PROPORTIONAL DAMPING; SERIAL LINK MANIPULATORS;

DELAY CONTROL SYSTEMS; MANIPULATORS; ORDINARY DIFFERENTIAL EQUATIONS; SIGNAL FILTERING AND PREDICTION;

OPTIMIZATION;

EID: 84881344245     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.1998.688327     Document Type: Conference Paper

References (6)

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2. Goodwin, G.C. and Sin, K.S. Adaptive Filtering Prediction and Control, Prentice-Hall, Inc., Englewood Cliffs, NJ, 1984.
3. Magee, D.P., Optimal Arbitrary Time-delay Filtering to Minimize Vibration in Elastic Manipulator Systems, Ph.D. Thesis, Georgia Institute of Technology, August 1996.
4. Singer, N.C. and Seering, W.P., "Preshaping Command Inputs to Reduce System Vibration," ASME Journal of Dynamic Systems, Measurement and Control, Vol. 112, No. 1, March 1990, pp. 76-82.
5. Strang, G., Linear Algebra and Its Applications, Third Edition, Harcourt Brace Jovanovich, Publishers, San Diego, CA, 1988.
6. Tallman, G.H. and Smith, O.J.M., "Analog Study of Dead-Beat Posicast Control," IRE Transactions on Automatic Control, Vol. PGAC, No.4, March 1958, pp. 14-21.