Input shaping reference commands for trajectory following Cartesian machines

Peláez, G.; Pérez, Jesús; Vizán, Antonio; Bautista, Emilio

doi:10.1016/j.conengprac.2004.09.011

Cited by 29 publications

(18 citation statements)

References 11 publications

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“…The zero-vibration solution leads us to set V (ω n , ζ ) = 0 and solve for the variables of the shaper. Thus, these shapers are typically known as Zero Vibration (ZV) shapers (Peláez et al 2005), which in compact form can be written as ⎡…”

Section: Command Shapingmentioning

confidence: 99%

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Singla

Tewari

DasGupta

2015

Sadhana

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The aim of this paper is to investigate the performance of the hybrid controller for end-point vibration suppression of a flexible manipulator, while it is tracking a desired input profile. Due to large structural vibrations, precise control of flexible manipulators is a challenging task. A hybrid controller is used to track large movements of flexible robotic manipulators, which is a combination of inverse dynamics feedforward control, command shaping and linear state feedback control. The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration levels. Moreover, the effect of payload variations on the performance of command shapers and the importance of more robust shapers is demonstrated in this work. Under the closed-loop control scheme, the control objective is to track the large-hub angle trajectory, while maintaining low vibration levels. In comparison to collocated PD control, being reported in the literature, large reductions in tip acceleration levels as well as input torque magnitudes are observed with the proposed hybrid controller.

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Section: Command Shapingmentioning

confidence: 99%

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Singla

Tewari

DasGupta

2015

Sadhana

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“…Input shaping has also been used in conjunction with other controllers. Negative input shapers have been developed and demonstrated the equivalent of time-optimal control [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Optimal unity-magnitude input shaper duration analysis

Gürleyük

2006

Arch Appl Mech

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Command profiles are required to move a dynamical system from rest to rest without residual vibration in a minimum time. The unity-magnitude (UM) input shaper is one of the faster input shaping techniques. However, analytical solution of the impulse time locations is impossible due to the dependent residual vibration constraint equations. Many researchers solve these by using curve fitting. In this paper, the characteristics of the UM shaping coefficients as a function of system parameters are investigated. An analysis procedure to obtain UM input shaper impulse time sequences is presented. Finally, the proposed technique is compared to the zero vibration (ZV) shaper in both response and robustness to modeling error.

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“…Having a good knowledge of the elasto-dynamic behavior of a manipulator plus its interactions is a crucial point. In this sense, accurate elasto-dynamic models are necessary at both the control stage [3]- [5] and design stage [6]- [8], in order to optimize the geometry, as well as the shape of the elements of the manipulator. This will lead to the creation of a mechanism in which vibrations will be minimized.…”

Section: Introductionmentioning

confidence: 99%

Elasto-Dynamic Model of Robotic Milling Process Considering Interaction Between Tool and Workpiece

Bondarenko

Pashkevich²,

Briot³

et al. 2012

Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering

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In this paper, a reduced elasto-dynamic model of the robotic based milling process is presented. In contrast to previous works, it takes into account the interaction between the milling tool and the workpiece that depends on the endeffector position, process parameters and cutting conditions (spindle rotation, feed rate, geometry of the tool, etc.). To reduce the dimension of the problem, the robot dynamics is described as an equivalent mass-spring-damper system with six dimensions. This approach, based on the Rayleigh-Ritz approximation, aims at decreasing computational cost and at avoiding inaccuracy due to ill-conditioning in the full size model. To achieve a realistic modelling of the milling process, the machining efforts due to the interaction between robot, tool and working material are introduced into the robot model and calculated at each time instant. Using this global model that integrates the robot dynamics and the milling process particularities, it is possible to obtain the movement of the robot end-effector and corresponding quality of the final product (profile, macro and micro geometry, roughness, etc.). In addition, this model allows selecting the best process parameters and avoiding the vibratory behavior of this machining system which can dramatically affect the milling quality.The developed model is applied to the behavior analysis of KUKA KR240 robot used for milling of an aluminum workpiece for automobile industry. This allows finding acceptable range for robot motion profile parameters.

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Input shaping reference commands for trajectory following Cartesian machines

Cited by 29 publications

References 11 publications

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Optimal unity-magnitude input shaper duration analysis

Elasto-Dynamic Model of Robotic Milling Process Considering Interaction Between Tool and Workpiece

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