Robust model-based trajectory planning for flexible mechanisms: experimental assessment

Abstract

This paper presents the experimental validation of a robust model-base motion planning technique for underactuated flexible mechanical systems in point-to-point motion. The method is aimed at producing motion profiles that result in reduced transient and residual vibrations, so that the motion task is completed with an accurate positioning. Unlike other methods in literature, the proposed method is also targeted at robustness, i.e. it reduces the effect of the uncertainties of the model used in the trajectory design. The preliminary experimental results proposed here show the reduced vibrations produced by the robust motion profile when the flexible-link mechanism is perturbed by increasing the endpoint mass, and its advantages over traditional input shaping techniques.