Journal of Electrical Engineering, Vol 49, 05-06 (1998) 129-133
REDUCING OF ROBOT END-EFFECTOR RESIDUAL VIBRATION BY MEANS OF CONTROL SIGNAL SHAPING
The paper deals with algorithms of control signal
shaping which ensure reducing of the robot end-effector
residual vibrations by means of elimination of the spectral
magnitude in the area around the resonant frequency.
Keywords: motion control, flexible system, end-effector, residual oscillation, signal filtering, signal shaping