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.
Rest-to-Rest Trajectory Planning of a Flexible Robot Link with Elastic Joint / Romano, Massimo; Murra, Luca; DE LUCA, Alessandro. - (2024), pp. 55-57. (Intervento presentato al convegno 6th Italian Conference on Robotics and Intelligent Machines tenutosi a Rome, Italy) [10.5281/zenodo.14730999].
Rest-to-Rest Trajectory Planning of a Flexible Robot Link with Elastic Joint
Alessandro De Luca
2024
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.| File | Dimensione | Formato | |
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Romano_Rest-to-rest_2024.pdf
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Note: DOI: 10.5281/zenodo.14730999
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