Optimized Input Shaping for a Single Flexible Robot Link

Abstract

This paper will discuss the design of an input shaped open-loop control for a single flexible robot link. The authors develop the equations of motion, including the first flexible mode shape and the actuator dynamics. Additional content includes the hardware system identification iterative runs used to update the model. Optimized input shaped commands for the flexible robot link to produce a rest-to-rest, residual vibration-free, 90 degree maneuver are developed. Correlation between both experimental and analytical results of the 90 degree slew, using two different identification models, are reviewed.