An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

Conker, Çağlar; Kılıç, Ali; Mıstıkoğlu, Selçuk; Kapucu, Sadettin; Yavuz, Hakan

doi:10.5545/sv-jme.2014.1698

Cited by 6 publications

(6 citation statements)

References 26 publications

(30 reference statements)

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“…Because the first step is completed with almost steady motion and with relatively reduced vibration levels, the second part of the motions starts with the advantage of very little or almost no residual vibrations. As a result of the second part of the motion yields better performance to the CPRVPR method [26].…”

Section: Modified Cycloid Plus Ramped Versine Plus Ramp (M-cprvpr) Rementioning

confidence: 99%

“…The calculations for the method are as follows where the input is divided into two sections and each one is calculated independently to form the first and the second part of the input signal. A motion profile of a modified CPRVPR function is described by Conker et al [26]:…”

Section: Modified Cycloid Plus Ramped Versine Plus Ramp (M-cprvpr) Rementioning

confidence: 99%

“…Yavuz et al [25] proposed a hybrid input shaping method to eliminate residual vibration of multi-mode system by convolving the pre-shaped input of cycloid-plus-ramped versine-ramp function with the sequence of all modes generated by twoimpulse sequences. Conker et al [26] suggested an enhanced control technique for hybrid input shaping method to elimination of residual vibrations in flexible-joint manipulator.…”

Section: Introductionmentioning

confidence: 99%

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A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

Conker¹,

Yavuz²,

Bilgiç³

2016

J. vibroeng.

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Command shaping is an important open-loop control method for improving the settling time and positioning accuracy. This technique also minimizes residual vibrations. Shaped command profiles are formed by convolving a sequence of impulses or solving special functions for the desired command signal. To determine the input shaper controller commands, estimated values of the system natural frequency and damping ratio are required to make the necessary calculations. However, real systems cannot be modelled precisely, while robustness of the shaper to modelling errors is an important design consideration. Many robust input shapers have been developed and reported in the literature. It has been observed that the robust shapers typically have longer travelling time durations that lead to slow system response. This makes a relationship between shaper rising/travelling time and robustness. This paper presents a review of command shaping methods and analyses the compromise between duration of motion and shaper robustness for positive and smoothly shaped reference commands.

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Section: Modified Cycloid Plus Ramped Versine Plus Ramp (M-cprvpr) Rementioning

confidence: 99%

Section: Modified Cycloid Plus Ramped Versine Plus Ramp (M-cprvpr) Rementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

Conker¹,

Yavuz²,

Bilgiç³

2016

J. vibroeng.

Self Cite

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show abstract

“…They have indicated that their approach is far more robust at high frequencies. Conker et al 18 proposed a control technique developed by the hybrid input shaping method to remove the residual vibrations in flexible link robotic systems. Mar et al 19 developed a control system that combines input shaping and feedback control for double-pendulum systems exposed to external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy logic–based decision support system for selection of optimum input shaping techniques in point-to-point motion systems

Bilgiç

Conker

Yavuz

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this study, a novel fuzzy logic–based decision support system approach to provide assistance in the selection of suitable input shaping techniques is presented. The proposed approach selects the suitable input shaping technique for point-to-point motion type of systems such as precise positioning, crane operations, flexible robotic systems and so on. The problem solution addressed is the selection of the input shaping technique and the settings for the selection of the input shaper. Some of these design issues require extensive expertise in command shaping and system modeling studies. To overcome these problems and the necessity for such an expertise in these application areas, the proposed technique is provided as a solution. The presented study also provides a review of input shaping methods as well as their advantages and disadvantages in terms of vibration elimination performance, traveling time and robustness features. In the final section of the study, the details of the simulations, as well as experimental results, are provided to validate the achieved high performance of the proposed technique. The experimental studies are conducted on a Quanser IP02 Gantry Crane experimental setup.

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“…The performance of a robotic manipulator is characterized by a well-defined control approach [2]. Classical or trivial control strategies are usually based on linear control laws while modern approaches are nonlinear in nature.…”

Section: Introductionmentioning

confidence: 99%

Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm

Iqbal¹,

Ullah²,

Khan³

et al. 2015

SV-JME

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Robotic manipulators have reshaped industrial processes. The scientific community has witnessed an ever increasing trend in robots deployed to accomplish various tasks in industry. The complex nature and constrained requirements of robots may demand non-trivial control approaches. This paper deals with the design, simulation and hardware realization of two sophisticated control strategies: computed torque control (CTC) and variable structure control (VSC) on a pseudo-industrial manipulator with six degrees of freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in a simulation to characterize the tracking performance. The simulation results were then validated by implementing control laws on a custom-developed pseudo-industrial autonomous articulated robotic educational platform (AUTAREP). The experimental results show the effectiveness of the control strategies to track a desired trajectory. Highlights• This paper presents advanced strategies to control a highly non-linear system like a multiple Degree Of Freedom (DOF) robotic arm. • The strategies include computed torque control (CTC) and variable structure control (VSC). • Design parameters using both strategies have been investigated in a simulation. • The strategies were carried out on a custom-developed autonomous articulated robotic educational platform (AUTAREP). • Trajectory tracking results showed that the derived laws can effectively track the desired reference input for both strategies.

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An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

Cited by 6 publications

References 26 publications

A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

Fuzzy logic–based decision support system for selection of optimum input shaping techniques in point-to-point motion systems

Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm

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