Input shaping and strain gauge feedback vibration control of an elastic robotic arm

@article{Malzahn2010InputSA,
  title={Input shaping and strain gauge feedback vibration control of an elastic robotic arm},
  author={J{\"o}rn Malzahn and Michael Ruderman and Anh Son Phung and Frank Hoffmann and Torsten Bertram},
  journal={2010 Conference on Control and Fault-Tolerant Systems (SysTol)},
  year={2010},
  pages={672-677}
}
Novel robotic applications, such as service robots, support the interaction between a human and a robot within the same workspace. These types of cooperative tasks require a safe robot operation in order to avoid physical harm to the human operator. In case of contact between the robot and human inherent safety is accomplished by means of lightweight flexible structures of reduced mass and stiffness that absorb contact forces. The flexible structure induces vibrations of the arm during motion… CONTINUE READING