Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming: Experimental Verification

[+] Author and Article Information
G. G. Parker

Mechanical Engineering and Engineering Mechanics Department, Michigan Technological University, Houghton, MI 49931-1295

G. R. Eisler, R. D. Robinett, J. T. Feddema

Sandia National Laboratories, Albuquerque, NM

J. Dyn. Sys., Meas., Control 119(4), 833-836 (Dec 01, 1997) (4 pages) doi:10.1115/1.2802400 History: Received May 31, 1995; Online December 03, 2007


Experimental verification of minimum time, straight-line tracking using a two-link planar flexible robot is presented. Previously reported minimum-time angle histories are precompensated to account for joint servo-actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 1.8 percent of the tip travel distance.

Copyright © 1997 by The American Society of Mechanical Engineers
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