Vibration control of a flexible joint manipulator based on off-line learning input shaping

PDF(1131 KB)

Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (13) : 177-181.

JIA Peng-xiao ZHOU Yue LI Xin-wei

Author information +

History +

Abstract

The input shaping technique (IST) is an effective control strategy to suppress residual vibration of a flexible joint manipulator. However, an exact model is essential for designing a traditional input shaper. Aiming at this problem, a new learning strategy for parameters of a two-impulse input shaper was proposed. The shaper’s parameters were off-line updated with the optimization methods including the extrapolation and interpolation method, and the golden section one through vibration amplitude measurement. The optimal parameters to minimize residual vibration amplitude were found without an exact model. In order to verify the effectiveness of the proposed method, a test platform for flexible joint manipulators was built, and the tests for residual vibration suppressing of a flexible joint manipulator using off-line learning input shaping were conducted. The test results verified the validity and feasibility of the proposed method.

Key words

input shaper / flexible joint manipulator / residual vibration / off-line learning

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

JIA Peng-xiao ZHOU Yue LI Xin-wei. Vibration control of a flexible joint manipulator based on off-line learning input shaping[J]. Journal of Vibration and Shock, 2018, 37(13): 177-181

References

[1] Park J, Chang P H, Park H S, et al. Design of learning input shaping technique for residual vibration suppression in an industrial robot [J]. IEEE/ASME Trans. Mechatronics, 2006, 1(1):55-65.
[2] Ramirez-Neria M, Ochoa-Otrega G, Lozada-Castillo N. On the robust trajectory tracking task for flexible-joint robotic arm with unmodeled dynamics[J]. IEEE Access,2016,(4), 7816-7827.
[3] M. Ruderman, Compensation of nonlinear torsion in flexible joint robots: Comparison of two approaches[J], IEEE Trans. Ind. Electron., 2016, 63(9):5744-5751.
[4] Singer NC, Seering WP. Preshaping Command Inputs to Reduce System Vibration[J]. ASME. J. Dyn. Sys., Meas., Control. 1990,112(1):76-82.
[5] 董明晓，张明勤，张瑞军，脱建智. 单模态振动机构输入整形振动主动控制研究[J]. 振动与冲击，2010,(8):40-42
DONG Ming-xiao, ZHANG Ming-qin, ZHANG Rui-jun et al, Research on active vibration control for single-mode vibration mechanisms [J], Journal of vibration and shock, 2010,(8):40-42.
[6] 贾鹏霄，李恩，梁自泽，强艳辉. PD自适应控制结合输入整形抑制单模态弹性机构振动研究[J]. 振动与冲击,2013,32(17):189-193.
JIA Peng-xiao, LI En, LIANG Zi-ze, et al. Adaptive PD control combined with input-shaping for suppressing vibration of a single-mode flexible mechanism［J］.Journal of Vibration and Shock, 2013, 32( 17) : 189-193.
[7] 赵志刚，游斌弟，赵阳. 改进型负输入整形与最优控制结合的振动抑制方法[J]. 振动与冲击，2014,33(8):202-208
ZHAO Zhi-gang, YOU Bin-di, ZHAO Yang, Combination of method negative input shaping and optimal control for vibration suppression[J], Journal of vibration and shock, 2014,33(8):202-208.
[8] 高名旺，张宪民. 高速平面并联机器人残余振动抑制实验 [J]. 振动与冲击,2014,33(24):164-168.
GAO Ming-wang, ZHANG Xian-min. Residual vibration suppression test for a planar parallel robot with high speed[J]. Journal of Vibration and Shock, 2014, 33(24) : 164-168.
[9] Ahmad M A, Ismail R M T R, Ramli M S, et al. Vibration control of flexible joint manipulator using input shaping with PD-type fuzzy logic control[C]. IEEE International Symposium on Industrial Electronics. Seoul, South Korea. 2009. 1184-1189.
[10] 谢辉，刘业超，谢宗武. 四自由度柔性关节机器臂残余振动的输入整形控制[J]. 机械与电子，2009,(10):32-34.
XIE Hui, LIU Ye-chao, XIE Zong-wu. Input shaping technique applied to vibration reduction of a four-dof flexible joint robot arm[J].Machinery & Electronics, 2009,(10):32-34.
[11] 戎新萍，张得礼，王小平. 基于解耦的柔性关节机械臂振动抑制方法研究[J]. 机电工程，2015,(1):14-20.
RONG Xin-ping, ZHANG De-li, WANG Xiao-ping. Vibration suppression control for manipulator with flexible joints based on decoupling[J]. Journal of Mechanical & Electrical Engineering.2015,(1):14-20.
[12] Gangqi Dong, Zheng Zhu. Input Shaping-based Impedance Control for Flexible Joint Robotic Manipulator[C]. AIAA Guidance, Navigation, and Control (GNC) Conference. Boston, MA. 2013.48-49.