Comparison of robust input shapers

Vaughan, Joshua; Yano, Aika; Singhose, William

doi:10.1016/j.jsv.2008.02.032

Cited by 215 publications

(127 citation statements)

References 10 publications

Supporting

Mentioning

126

Contrasting

Unclassified

Order By: Relevance

“…Basic input shapers are designed for systems with specific constant frequency. Higher order shapers can accommodate sets of discrete frequencies; however, those shapers tend to significantly slow down the system [31].…”

Section: Frequency Modulation Input Shapingmentioning

confidence: 99%

“…The response to the second impulse of the ZV shaper mitigates the vibrations excited by the first impulse. The amplitudes of the impulse and their time locations are designed so that the residual vibration is zero [31]. The impulse amplitudes and impulse times of the ZV input shaper are…”

Section: Frequency Modulationmentioning

confidence: 99%

“…The robust ZVD input shaping process is the convolution of three impulses with a general input command, Figure 4. The ZVD impulses and their time locations are designed so that the amplitude and the derivative of residual oscillations caused by the shaped input are zero [31]. This results in an input shaper in the form…”

Section: Frequency Modulationmentioning

confidence: 99%

See 2 more Smart Citations

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi

Masoud

2017

Shock and Vibration

View full text Add to dashboard Cite

This paper presents an input shaping control system for overhead crane operations involving simultaneous hoist and travel maneuvers. The control system utilizes model-based partial feedback linearization with frequency modulation. Traditional input shaping controllers target specific system frequencies. Therefore, they are incapable of accommodating the time dependant frequency associated with simultaneous hoist and travel crane maneuvers. Frequency modulation is used to tune the timedependent system frequency to the design frequency of a primary input shaping controller. Partial feedback linearization is used to eliminate the time-dependent damping of the system. The primary input shaper frequency is based on lowest operating frequency of the system associated with the longest hoisting cable length operation. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. General arbitrary input travel and hoist commands are simulated. Results demonstrate the ability of the proposed control system to eliminate residual oscillations in all simulated cases.

show abstract

Section: Frequency Modulation Input Shapingmentioning

confidence: 99%

Section: Frequency Modulationmentioning

confidence: 99%

See 1 more Smart Citation

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Arabasi

Masoud

2017

Shock and Vibration

View full text Add to dashboard Cite

show abstract

“…; (26) where K is a positive semi-de nite matrix. Considering the control torque obtained for the rigid model and the kinematic equations, the dynamic equation (20) becomes:…”

Section: Stability Analysis Of the Robot With Elastic Cablesmentioning

confidence: 99%

“…For V tol = 5%, the allowable band of frequency uncertainty of single hump EI shaper is 20%. If more robustness is required, multi-hump EI shapers can be designed [26]. In this paper, vibration reduction is accomplished using undamped three-hump EI shaper, where the amplitudes and time locations of the impulses are:…”

Section: Control Approachesmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

View full text Add to dashboard Cite

Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

show abstract

A Smooth Wave‐Form Shaped Command with Flexible Maneuvering Time: Analysis and Experiments

Alhazza

Masoud

Alotaibi

2015

Asian Journal of Control

View full text Add to dashboard Cite

Shaped commands are used to eliminate residual oscillations of crane payloads. Command jerks are detrimental to the safe and efficient operation of cranes. Smooth shaped commands are recommended to avoid such jerks in motion commands to crane motors. The amplitude of the shaped command is governed by its time length. The time length of the shaped command is highly dependent on the natural period of oscillation of the payload. A flexible time length of the shaped command introduces flexibility in selecting the desired command amplitude that would lead to a reduced stress on the crane actuators. In this work, a smooth wave‐form acceleration command is proposed to eliminate residual oscillations in rest‐to‐rest maneuvers of cranes. The proposed shaped command is derived analytically. The system performance is simulated numerically and validated experimentally on a scaled model of an overhead crane. The proposed wave‐form is further modified to relax the dependence of the profile on the natural period of oscillation of the payload.

show abstract

Comparison of robust input shapers

Cited by 215 publications

References 10 publications

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

A Smooth Wave‐Form Shaped Command with Flexible Maneuvering Time: Analysis and Experiments

Contact Info

Product

Resources

About