TY - JOUR
T1 - Modal force based input shaper for vibration suppression of flexible payloads
AU - Zhou, T.
AU - Goldenberg, A. A.
AU - Zu, J. W.
PY - 2002
Y1 - 2002
N2 - Input shaping is a simple but effective method for vibration reduction of linear flexible systems. When systems exhibit nonlinear dynamics, the performance of an input shaper may be degraded. In this paper, a new shaper design scheme is developed for a nonlinear system which consists of a rigid robotic manipulator and a flexible sheet metal payload being grasped at several points by the robot gripper. The new scheme utilizes a parallel shaper structure based on the modal forces of payload vibration. A feedforward/feedback control law is also presented to drive the system to follow its shaped trajectory and to stabilize it at its desired position. Simulation results of a rest-to-rest robot motion control illustrate improved performance of the proposed input shaper, and verify the effectiveness of the control strategy.
AB - Input shaping is a simple but effective method for vibration reduction of linear flexible systems. When systems exhibit nonlinear dynamics, the performance of an input shaper may be degraded. In this paper, a new shaper design scheme is developed for a nonlinear system which consists of a rigid robotic manipulator and a flexible sheet metal payload being grasped at several points by the robot gripper. The new scheme utilizes a parallel shaper structure based on the modal forces of payload vibration. A feedforward/feedback control law is also presented to drive the system to follow its shaped trajectory and to stabilize it at its desired position. Simulation results of a rest-to-rest robot motion control illustrate improved performance of the proposed input shaper, and verify the effectiveness of the control strategy.
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M3 - Conference article
AN - SCOPUS:0036060505
SN - 1050-4729
VL - 3
SP - 2430
EP - 2435
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2002 IEEE International Conference on Robotics adn Automation
Y2 - 11 May 2002 through 15 May 2002
ER -