Vibration Control of Flexible Joint Robots Using a Discrete-Time Two-Stage Controller Based on Time-Varying Input Shaping and Delay Compensation
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Bibliographic record
Abstract
Abstract Most industrial serial robots use decentralized joint controllers assuming rigid body dynamics. To prevent exciting the flexible mode, gains are kept low, resulting in poor control bandwidth and disturbance rejection. In this paper, a two-stage flexible joint discrete controller is presented, in which the decentralized approach is extended with a stiffness to take into account the dominant coupling mode. In the first-stage, an input shaping feedforward shapes the rigid closed-loop dynamics into desired dynamics that does not produce link vibrations. Robotic dynamic computation based on a recursive Newton–Euler algorithm is conducted to update the feedforward link inertia parameter during robot motion. A second-stage is added to increase disturbance rejection. A generalized Smith predictor (GSP) is developed to compensate for delay and feedback sensor filtering. An effective methodology is presented to optimize the control loop gains. Numerical simulations and experiments on a six-joint robot manipulator confirm that the proposed controller improves control performances in terms of bandwidth, vibration attenuation, and disturbance rejection.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it