A NEW PRESHAPED INPUT FUNCTION WITH HIGH ROBUSTNESS FOR MINIMIZING RESIDUAL VIBRATION OF MANIPULATORS

People have done a great deal of work in the field of preshaping input commands to minimize residual vibration of manipulators. However, all the methods that have been proposed before rely too much on the preci seness of the system's model. This default prevents this technique fro m being extended to be put into real use. This article proposes a new kind of input function with high robustness and then demonstrates it i n theory and simulate the results. So, it is very helpful in practical use and guiding use on theory. (C) 1997 Elsevier Science Ltd.