Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed
GAO Ming-wang1 ZHANG Xian-min2
1. School of Mechanical Engineering, Shandong University of Technology, Zibo 255012; 2. Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou 510641
Abstract：An experiment for residual vibration suspension of parallel robot was done based on input shaping control. Firstly, the kinematics of the planar parallel mechanism was analyzed and the dynamic of the manipulator was constructed. Then, a dynamic formula including these PD controllers was made up. Lastly, zero vibration (ZV), zero vibration and derivative (ZVD) for one mode shaper and zero vibration-zero vibration and derivative (ZV-ZVD) for two-mode input shapers were designed. An experiment system was set up. The experimental results show that input shapers offer significant reduction in the residual oscillation and the ZV-ZVD shaper is more effective for suspending residual oscillation.
2014, Vol. 33 
