Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed

GAO Ming-wang ZHANG Xian-min

Journal of Vibration and Shock ›› 2014, Vol. 33 ›› Issue (24) : 164-168.

PDF(1781 KB)
PDF(1781 KB)
Journal of Vibration and Shock ›› 2014, Vol. 33 ›› Issue (24) : 164-168.
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Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed

  • GAO Ming-wang1 ZHANG Xian-min2
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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.

Key words

Parallel robot / Input shaping / Residual vibration

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GAO Ming-wang ZHANG Xian-min. Experiment of Residual Vibration Suppression for Planar Parallel robot with High-speed[J]. Journal of Vibration and Shock, 2014, 33(24): 164-168
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