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Precise motion control is desired in a variety of industrial robot applications. In order to achieve precise and rapid rest-to-rest motion, the overshoot and the residual vibration caused by flexibility of robots should be minimized. To make robot motion more accurate, vibration suppression and control of flexible joint robot problems are introduced in this research. Furthermore, considering these control problems can be addressed using more general optimal control approach, an efficient numerical method for optimal control is presented not only to dress motion control problems, but also other applications like motion planning.
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IEEE Robotics and Automation Lettersno. 9 (2023): 5815-5822
MATHEMATICSno. 12 (2023): 2636-2636
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CoRR (2023)
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2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)pp.1771-1778, (2022)
PROCEEDINGS OF THE ASME 10TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2017, VOL 2 (2017)
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