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 language | English |
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| Pages (from-to) | 2430-2435 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 2002 |
| Event | 2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States Duration: 11 May 2002 → 15 May 2002 |