Command shaping for flexible systems: A review of the first 50 years

Singhose, William

doi:10.1007/s12541-009-0084-2

Cited by 364 publications

(189 citation statements)

References 138 publications

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“…The amplitudes and the times of applied impulses are determined in such a way that at the end of command, the vibration caused by exciting the system natural modes is reduced or cancelled completely. If a good approximation of the natural frequency and damping exists, then the ratio of the vibration amplitude produced by a sequence of impulses to the vibration amplitude caused by a unit impulse is [25]: A i and t i denote the amplitude and the time location of the i-th impulse, respectively, ! is natural frequency, is damping, and m represents the number of impulses.…”

Section: Control Approachesmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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Section: Control Approachesmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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“…Consequently, once A 1 is guessed, the amplitude of the second impulse A 2 is automatically preset to maintain the condition of rigid body motion of the shaper, i.e., 1 Figure 3 shows the graphical result, where it can be seen that a small null drift implies a noticeable effect on the residual vibration. …”

Section: P R E -P R I N T V E R S I O Nmentioning

confidence: 99%

“…Motion control for rest-to-rest maneuvers in lightly-damped oscillation systems has been one of the main areas of focus for the development of residual vibration reduction [1][2][3] , and cranes have been one of the widely addressed industrial applications [4][5][6][7][8][9][10][11] . In the case of standard cranes, the cable length and the inertia of the payload will change between maneuvers and, hence, a large variation of the system parameters is foreseen.…”

Section: Introductionmentioning

confidence: 99%

Modified adaptive input shaping for maneuvering cranes using a feedback MEM gyroscope with null drift

Fontanet

Cardona

Català

2015

Int. J. Precis. Eng. Manuf.

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This paper presents an adaptive algorithm to reduce residual vibrations when the feedback sensor used has the drawback of having null drift along the time. The adaptive approaches are useful to deal with large variations of the system parameters at each maneuver, such as it occurs in cranes. For the feedback sensor, the use of inertial measurement units such as Micro-Electro-Mechanical Systems (MEMS) is increasingly extended because of their cost, size, robustness and power consumption. However, the effectiveness of the adaptive input shaping algorithms is compromised because of this drift, which is a commonly raised issue in this kind of devices. For a standard crane application, this major drawback could be avoided with a frequent time-basis calibration of the sensor, but it is not a feasible solution. The study presented in this manuscript focuses on the development of an automatic compensation of this drift to obviate such frequent calibrations. It is based on a non-asymptotic algebraic identification technique, which has the advantage of not requiring initial conditions and having a short convergence time. The new formulation uses the Zero-Vibration (ZV) input shaper technique, and the null drift is added to the algorithm as a new parameter to be identified. The proposed method has been particularized for single maneuvers of cranes with a gyroscope as feedback sensor, in a real time scenario. Experimental results show the efficacy of the method with its application to a scaled crane test platform. P R E -P R I N T V E R S I O N

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“…通常对于柔性关节机器人振动的抑制主要有三种途径：结构优化设计、反馈控制、输入指令整 [1][2][3] 。在控制形式方面，硅片传输机器人通常采用半闭环控制方式，即反馈元件安装在电动机处，采用反馈控制的方式进行抑振需要增加额外的传感器 [4][5] ，这在结构空间上很难满足，同时增加成本。指令输入整形可以有效地对残余振动进行抑制，国内外一些学者进行了大量的研究 [6][7][8][9][10] 。在硅片传输机器人手臂结构优化设计方面，研究的较少。 KAWAMUTRA 等 [11] 采用集中质量法对硅片传输机器人进行了动力学建模，并通过优化手臂重心位置等方式进行振动抑制。张传思 [12] …”

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