Design of learning input shaping technique for residual vibration suppression in an industrial robot

Park, Juyi; Chang, Pyung Hun; Park, Hyung Soon; Lee, Eunjeong

doi:10.1109/tmech.2005.863365

Cited by 102 publications

(11 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In addition to velocity profile generation, many studies have explored shaping the motion profile generated by the input-shaping technique using a preprocessing filter [6,17,18]. The input-shaping technique proposed in reference [6] shows that vibrations can be reduced by shaping the input according to impulse by reducing the period of vibration and damping ratio.…”

Section: Related Researchmentioning

confidence: 99%

“…As the implementation is simple and the results are effective for moving systems, efforts have been made to apply this to various systems. For application to robots, a learning technique was applied to industrial robots in reference [17] and vibration control of flexible robots was considered in reference [18]. However, this approach has a disadvantage whereby the time required for motion is prolonged by half the vibration period.…”

Section: Related Researchmentioning

confidence: 99%

See 1 more Smart Citation

Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

2019

View full text Add to dashboard Cite

The residual vibration when a robot manipulator is operated at high speed needs to be suppressed. These vibrations are generated by the resonance of a flexible object being moved by the robot, and research on control algorithms and motion profiles is ongoing to reduce them. In this paper, we propose a method to reduce the residual vibration of an object moved by a robot manipulator by optimizing the acceleration/deceleration time calculated using the object’s natural frequency. The relationship between acceleration/deceleration time and the residual vibration in a trapezoidal velocity profile is considered by analyzing the scenario when the jerking motion characteristic of such vibrations occurs. The results of experiments using a commercial robot show that residual vibrations can be reduced by the proposed method without the need for an additional feedback control algorithm while transferring a flexible object over small and large distances.

show abstract

Section: Related Researchmentioning

confidence: 99%

Section: Related Researchmentioning

confidence: 99%

Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

2019

View full text Add to dashboard Cite

show abstract

“…Then it modifies the input signal after taking the physical and vibrational properties of the modular joint into account to reduce vibrations. However, it has trouble withstanding system modeling error, which is sensitive to model uncertainties [10][11][12]. The closed-loop control methods have been credited in various applications as powerful tools to suppress vibrations, such as fuzzy logic and neural networks.…”

Section: Introductionmentioning

confidence: 99%

Robust Vibration Control Based on Rigid-Body State Observer for Modular Joints

et al. 2021

View full text Add to dashboard Cite

The vibration caused by resonance modes frequently occurs during acceleration and deceleration of the modular joint integrated with flexible harmonic drive. The conventional equivalent rigid-body velocity method with observer can suppress the residual vibration induced by resonant frequency but has poor robustness to model uncertainties and external disturbances. Moreover, it cannot eliminate the torque ripple caused by the harmonic drive during low-speed uniform motion, reducing the velocity tracking accuracy. Hence, a velocity controller with a rigid-body state observer and an adjustable damper is designed to improve the robust performance and velocity tracking accuracy. The designed rigid-body state observer allows a higher gain so that the bandwidth of the observer can increase, and the equivalent rigid-body velocity can be acquired more accurately. Notably, the high gain observer reduces the sensitivity to model uncertainties and exotic disturbances, especially near the resonant frequency. In addition, the observer combined with an adjustable damper can suppress the residual vibration and torque ripple simultaneously. The proposed method is compared experimentally with a PI method and two other rigid-body velocity methods, such as the conventional equivalent rigid-body observer method and the self-resonance cancellation method, to verify its advantages.

show abstract

“…It analyzes the flexible system's vibration frequency and designs the input shaper to suppress the flexible structure's vibration. It is widely used in crane mechanisms [14], robot arm [15]. In [16], an X-Y position stage is equipped with a flexible beam, which simulates a rectangular robot and gantry robot's working method.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

Yong-ping¹,

Yang

Chen

et al. 2021

IEEE Access

View full text Add to dashboard Cite

Design of learning input shaping technique for residual vibration suppression in an industrial robot

Cited by 102 publications

References 17 publications

Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

Robust Vibration Control Based on Rigid-Body State Observer for Modular Joints

Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

Contact Info

Product

Resources

About