DocumentCode :
834867
Title :
Design of learning input shaping technique for residual vibration suppression in an industrial robot
Author :
Park, Juyi ; Chang, Pyung-Hun ; Park, Hyung-Soon ; Lee, Eunjeong
Author_Institution :
Daewoo Shipbuilding & Marine Eng. Co. Ltd., Koje City, South Korea
Volume :
11
Issue :
1
fYear :
2006
Firstpage :
55
Lastpage :
65
Abstract :
In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-varying nonlinear residual vibration, while conventional IST is applied to the second and third axes. Experimental results show that LIST can suppress residual vibrations to a level similar to that of a time-varying IST which requires complicated real-time estimation of a dynamic model. The LIST is an attractive method for suppression of nonlinear and time-varying residual vibrations in industrial robots which perform repetitive tasks because most industrial robots have limited computing power and memory space in their controllers.
Keywords :
industrial robots; iterative methods; learning (artificial intelligence); robot dynamics; vibration control; dynamic model; iterative learning input shaping technique; six-degrees-of-freedom industrial robot; time-varying nonlinear residual vibration suppression; Aerospace industry; Computer industry; Frequency estimation; Industrial control; Orbital robotics; Robustness; Service robots; Time varying systems; Vibration control; Vibration measurement; Flexible structure; industrial robot; input shaping; iterative learning algorithm; residual vibration;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2005.863365
Filename :
1597176
Link To Document :
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