Abstract
In recent years, rigid flexible coupling structure has been widely used in robots. However, its nonlinear deformation increases the residual vibration of the system, which causes a great challenge to the motion control of robots. In this paper, a kind of motion control algorithm based on input shaping is proposed. Based on the analysis of the vibration modes of the system, motion controllers are designed based on three typical input shaping algorithms, which not only make the rigid flexible coupling system can respond quickly, but also reduce the residual vibration in the process of motion. The effectiveness, robustness and real-time performance of the motion control algorithm are verified by numerical simulation and motion control experiments. The study results of this paper lay the foundation for the motion control of complex robot and exoskeleton system.
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