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Abstract: To
solve the problem of residual vibration of the joint actuated by
pneumatic muscles under step input, input shaping method is introduced.
Three methods to realize input shaping for the joint are analyzed, and
experiments are carried. The experiment results showed that, choosing
the delay time and the amplitude of the inputs properly can effectively
reduce the residual vibration of the joint. The methods proposed are
effective and can be realized easily.
Key words: Pneumatic muscle Input shaping Residual vibration
CLC No: TH138
国家自然科学基金资助项目(50085002).
Received 20040309, received in revised form 20040820
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