Yun, SK Kang, SC Kim, M Yoon, SS 2024-01-19T14:39:09Z 2024-01-19T14:39:09Z 2022-03-07 2004 1050-4729 https://pubs.kist.re.kr/handle/201004/117064 In this paper, design and control of a safe arm with passive compliant joints(PCJ) are presented. A new manipulator with passive compliance property has been developed at KIST. Strategy for the joint control method is implemented. Because the PCJ is a flexible joint, unwanted vibration is occurred during the joint motion. To reduce this vibration, we use the input preshaping method which is motivated by the input shaping technique(IST) based on impulse response. The control method for a time-varying system like the safe arm is described in detail. The result of simulations and experiments proves that a fast motion of the safe arm without residual vibration can be achieved. English IEEE Input preshaping control of the safe arm with MR-based passive compliant joints Conference 1 IEEE International Conference on Robotics and Automation, pp.2788 - 2793 IEEE International Conference on Robotics and Automation 2788 2793 US New Orleans, LA 2004-04-26 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 000221794800449 2-s2.0-3042620198 Proceedings Paper