Rest-to-Rest Trajectory Planning of a Flexible Robot Link with Elastic Joint
Year: 2024
Type: conference-paper
Abstract: A method is presented for planning a rest-to-rest motion in given time and with zero final vibration for a one-link flexible robot with an elastic joint. We combine in the dynamic model a finite-dimensional description of the flexible link with the transmission elasticity between motor and link. A flat output having no zero dynamics is defined for the system and a suitable smooth trajectory is designed for the task. The nominal torque is then obtained by inverse dynamics.
Authors: Romano, Massimo, Murra, Luca, De Luca, Alessandro
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6893366347
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