Residual vibration suppression using off-line learning input shaping method for a flexible joint robot

Qiang, Yanhui; Jing, Fengshui; Hou, Zhongsheng; Jia, Pengxiao

doi:10.1109/wcica.2012.6359116

Cited by 6 publications

(4 citation statements)

References 9 publications

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“…Hub inertia, payload and structural damping was also considered [6]. Since it is slender and long, rotary inertia effect and transverse shear are neglected.…”

Section: Model Of Single Link Flexible Manipulatormentioning

confidence: 99%

“…As mentioned in section II.a, finite element method was used with 10 numbers of elements to determine the dynamic behavior of the system. Hub inertia, payload and structural damping was also considered [6]. Since it is slender and long, rotary inertia effect and transverse shear are neglected.…”

Section: Model Of Single Link Flexible Manipulatormentioning

confidence: 99%

“…Input shaping, low pass and band stop filters are experimentally investigated and assessed. Input shaping for eliminating vibrations using an offline learning method was proposed in [6]. The method proved effective and no additional sensor is required.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

Tahir

Hassan

Mohamed

et al. 2017

International Journal on Smart Sensing and Intelligent Systems

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“…Hub inertia, payload and structural damping was also considered [6]. Since it is slender and long, rotary inertia effect and transverse shear are neglected.…”

Section: Model Of Single Link Flexible Manipulatormentioning

confidence: 99%

Section: Model Of Single Link Flexible Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

Tahir

Hassan

Mohamed

et al. 2017

International Journal on Smart Sensing and Intelligent Systems

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“…An input shaping method proposed as a feedforward control technology by Singer and Seering 7 is widely used to eliminate the residual vibration produced when performing point-to-point movements. Aiming at the residual vibration problem of 6-DOF flexible joint robot, Qiang et al 8 and Park et al 9 adopted the iterative learning strategy to realize the input shaping technology. Aiming at the residual vibration problem of robot under heavy load condition, Zhao et al 10 adopted a shaper with strong robustness to deal with the problem of different vibration frequencies of each axis.…”

Section: Introductionmentioning

confidence: 99%

Force impact suppression of contact transition state in robot grinding and polishing of industrial blades

Wang

Zhao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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When using robots to carry out grinding and polishing processing of industrial blades, due to factors such as non-zero approach speed and discontinuous dynamic characteristics, the robot grinding and polishing processing has contact force impact and oscillation problems during the contact transition process, which seriously affects the quality of the blade surface processing, contour accuracy and control system stability. The robot grinding and polishing process needs to interact with the environment and complete the contact-non-contact operation with the blade in real time. Therefore, the contact transition state is an important link to realize the robot’s smooth grinding and polishing. This paper proposes an optimization method for impact suppression in the transition state of robot grinding and polishing. Taking the robot abrasive belt grinding and polishing as the research object, the adaptive weighted particle swarm algorithm is used to optimize the input shaper to realize the parameter self-tuning of the input shaping technology, the optimization process does not need system modeling information and has high accuracy. MATLAB is used for simulation analysis, and the self-built robot grinding and polishing system is used to carry out experiments. The results show that the proposed method can realize the smooth transition of the blade grinding and polishing process, effectively shorten the system stabilization time, reduce the maximum overshoot, and accelerate the system response speed, it has strong stability and flexibility.

show abstract

Smooth online time-varying input shaping with fractional delay FIR filtering

Thomsen

Søe-Knudsen²,

Brandt³

et al. 2019

Control Engineering Practice

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Residual vibration suppression using off-line learning input shaping method for a flexible joint robot

Cited by 6 publications

References 9 publications

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

Force impact suppression of contact transition state in robot grinding and polishing of industrial blades

Smooth online time-varying input shaping with fractional delay FIR filtering

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