Input preshaping control of the safe arm with MR-based passive compliant joints

Abstract

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.