Computed acceleration control for the vibration suppression of flexible robotic manipulators
作者： M. Uchiyama , A. Konno
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摘要: Proposes a control scheme, called computed acceleration control, for the of spatial flexible robotic manipulators. In scheme joint accelerations are from equations link elastic motion (vibration) after regarding as inputs to equations. The overall (joint motion) is then used compute commands motors. It shown that this gives theoretical solution problem designing variable gain controller vibration suppression theory followed by an example three degrees-of-freedom manipulator and preliminary experiment using planar driven velocity servos. >
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