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Optimal input design for a cooperating robot to reduce vibration when carrying flexible objects

Published online by Cambridge University Press:  01 March 2001

Young-Chun Ji  and
Youn-sik Park
Young-Chun Ji
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (Korea). yspark@mail.kaist.ac.kr
Youn-sik Park
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (Korea). yspark@mail.kaist.ac.kr
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Abstract

This paper presents a computational method for obtaining an optimal control trajectory for point-to-point motion of a cooperating robot carrying a flexible object. To increase the overall productivity and its efficiency, it is required to move the object as fast as possible using the maximum capacity of actuators of robots. If the carrying object is very sensitive to vibration, the robots should be operated so as not to cause excessive vibration of that object. This work deals with optimal input design for cooperative robots to reduce vibration of flexible objects that are handled at speed, under firm constraints on control torques.

Keywords

Cooperating robotsReduced vibrationFlexible objectsInput designFast motion
Type
Research Article
Information
Robotica , Volume 19 , Issue 2 , March 2001 , pp. 209 - 215
Copyright
© 2001 Cambridge University Press

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