Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator

Starr, Gregory P.

doi:10.1115/1.3140715

Cited by 143 publications

(36 citation statements)

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“…Chen et al also present a passive approach based on open-loop concept for vibration-free handling of deformable beams; similar ideas can be found in [20,21] , which deal only with rigid bodies. However, application of the method presented by [19] is limited due to its stable start condition and a relatively simple trajectory.…”

Section: Figure 1 the Quick Operation Causes Uncertainty And Failurementioning

confidence: 99%

Manipulating deformable linear objects: Attachable adjustment‐motions for vibration reduction

Yue

Henrich

2001

J. Robotic Syst.

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This paper addresses the problem of handling deformable linear objects (DLOs) in a suitable way to avoid acute vibration. Different types of adjustment-motions that eliminate vibration of deformable objects and can be attached to the end of an arbitrary end-effector's trajectory are presented. For describing the dynamics of deformable linear objects, the finite element method is used to derive the dynamic differential equations. Genetic algorithm is used to find the optimal adjustment motion for each simulation example. Experiments are conducted to verify the presented manipulating method.

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Section: Figure 1 the Quick Operation Causes Uncertainty And Failurementioning

confidence: 99%

Manipulating deformable linear objects: Attachable adjustment‐motions for vibration reduction

Yue

Henrich

2001

J. Robotic Syst.

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“…In [30,9], a symmetric three-segment trajectory is proposed to eliminate the residual swing. From Figure 2, it can be noticed that Trajectory 2 has shorter arrival time than the other four trajectories.…”

Section: Trajectorymentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

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Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

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“…The input shaping was originally proposed under the name Posicast control by Smith in [1]; Smith in [2]; and Tallman and Smith in [3]. The first application of the Posicast control to robot transport of suspended objects was performed by Starr in [4] and Starr in [5], whose method was further generalized by Strip in [6]. Singer and Seering in [7] extended the Posicast control by increasing its robustness to parameter uncertainty and patented the technique under the name input shaping.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Chatlatanagulchai¹,

Nithi-Uthai²

2017

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Abstract. Input shaping technique can be used to suppress residual vibration, occurring from moving rapidly a flexible system from one point to another point. An input shaping filter produces a shaped input signal that avoids exciting the flexible modes of the flexible system. The technique requires accurate knowledge of mode parameters. When the plant model is not accurate, performance of the input shaper degrades. Several robust input shapers were proposed to handle this inaccuracy at the expense of longer move time. The purpose of this paper is, for the first time, to present an application of an intelligent backstepping system to matching of the resulting closed-loop system with a reference model. The input shaper can then be designed from the mode parameters of the reference model. Because the reference model is accurate even when the plant model is not, the input shaper needs not be robust, resulting in shorter move time. The intelligent backstepping system consists of a three-layer neural network, a variable structure controller, and a backstepping controller. The neural network is used as a black-box model in case when the plant model is unknown, making the proposed system model-independent. The adaptive property of the neural network also makes the proposed system suitable for nonlinear, time-varying, or configuration-dependent systems. The variable structure controller handles the uncertainty arisen in the system. The backstepping controller, through its virtual controls, provides a means for the control authority to reach the unmatched uncertainty in the system. This study contains simulation and experimental results on a flexible-joint robot manipulator. The results showed that this proposed intelligent input shaping system outperformed previously proposed robust input shapers in terms of allowable uncertainty amount and move time. The proposed system is also relatively easy to apply because it does not require the plant model.

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Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator

Cited by 143 publications

References 0 publications

Manipulating deformable linear objects: Attachable adjustment‐motions for vibration reduction

Manipulating deformable linear objects: Attachable adjustment‐motions for vibration reduction

Optimal motion planning for overhead cranes

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

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