Residual vibration suppression using off-line learning input shaping method for a flexible joint robot

Output Based Input Shaping for Optimal Control of Single Link Flexible Manipulator

“…Hub inertia, payload and structural damping was also considered [6]. Since it is slender and long, rotary inertia effect and transverse shear are neglected.…”

“…As mentioned in section II.a, finite element method was used with 10 numbers of elements to determine the dynamic behavior of the system. Hub inertia, payload and structural damping was also considered [6]. Since it is slender and long, rotary inertia effect and transverse shear are neglected.…”

“…Input shaping, low pass and band stop filters are experimentally investigated and assessed. Input shaping for eliminating vibrations using an offline learning method was proposed in [6]. The method proved effective and no additional sensor is required.…”

Force impact suppression of contact transition state in robot grinding and polishing of industrial blades

“…An input shaping method proposed as a feedforward control technology by Singer and Seering 7 is widely used to eliminate the residual vibration produced when performing point-to-point movements. Aiming at the residual vibration problem of 6-DOF flexible joint robot, Qiang et al 8 and Park et al 9 adopted the iterative learning strategy to realize the input shaping technology. Aiming at the residual vibration problem of robot under heavy load condition, Zhao et al 10 adopted a shaper with strong robustness to deal with the problem of different vibration frequencies of each axis.…”