Implementation of input shaping for the vibration control of flexible beams manipulated by industrial robot

LI Lin,HU Xiqin,ZOU Yanbiao

Journal of Vibration and Shock ›› 2019, Vol. 38 ›› Issue (20) : 12-17.

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PDF(1850 KB)
Journal of Vibration and Shock ›› 2019, Vol. 38 ›› Issue (20) : 12-17.

Implementation of input shaping for the vibration control of flexible beams manipulated by industrial robot

  • LI Lin,HU Xiqin,ZOU Yanbiao
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Abstract

The residual vibration of a flexible object is inevitable in the operation of industrial robots, especially when the direction of motion coincides with the direction of deflection.A method for controlling the vibration of a flexible beam manipulated by a 6 degrees-of-freedom industrial robot was presented in this study.To achieve a precise and rapid rest-to-rest motion, the input shaping technique was applied to address the above mentioned problem.First, to design a reasonable input shaper, a vibration parameter identification algorithm combined with Fourier spectrum and time domain analyses was used to estimate the natural frequencies and damping ratios of a robot-beam system.Second, a shaping technique along the path direction in Cartesian space was proposed to avoid a contour error.Finally, experiments were conducted.Results show that the proposed approach effectively reduces vibration by approximately 90% and eliminates the contour error simultaneously.

Key words

 industrial robot / input shaping / residual vibration / contour error

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LI Lin,HU Xiqin,ZOU Yanbiao. Implementation of input shaping for the vibration control of flexible beams manipulated by industrial robot[J]. Journal of Vibration and Shock, 2019, 38(20): 12-17

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