VIBRATION CONTROL OF REDUNDANT FLEXIBLE-JOINT MANIPULATORS

Presented ia this paper is a method for controlling vibrations of a re dundant flexible-joint manipulator. The main idea behind this method i s to utilize joint redundancy to minimize the change in the manipulato r inertia, so that a simple gain-fixed control law can be used to cont rol joint vibrations. For this purpose, two optimal joint trajectory g enerators are proposed; one is based on the extended Jacobian method a nd the other is based on an optimization technique. Numerical simulati ons are provided to demonstrate the effectiveness of the proposed cont rol method.