Title

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.

Publisher's Statement

© 1997 ASME. Publisher’s version of record: https://doi.org/10.1115/1.2802400

Publication Title

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

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