Modal force based input shaper for vibration suppression of flexible payloads

T. Zhou, A. A. Goldenberg, J. W. Zu

Research output: Contribution to journalConference articlepeer-review

9 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)2430-2435
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 2002
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: 11 May 200215 May 2002

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