Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification
Document Type
Article
Publication Date
1-1-1997
Department
Department of Mechanical Engineering-Engineering Mechanics
Abstract
Experimental verification of minimum time, straight-line tracking using a two-link planar flexible robot is presented. Previously reported minimum-time angle histories are precompensated to account for joint servo-actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 1.8 percent of the tip travel distance.
Publication Title
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Recommended Citation
Parker, G. G.,
Eisle, G.,
Robinett, R.,
&
Feddema, J.
(1997).
Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification.
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME,
119(4), 833-836.
http://doi.org/10.1115/1.2802400
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/2460
Publisher's Statement
© 1997 ASME. Publisher’s version of record: https://doi.org/10.1115/1.2802400