An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator
Shamil Mamedov,Alejandro Astudillo,Daniele Ronzani,Wilm Decré,Jean-Philippe Noël,Jan Swevers,Shamil Mamedov,Alejandro Astudillo,Daniele Ronzani,Wilm Decré,Jean-Philippe Noël,Jan Swevers
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam...
