Authors:
Dan Kielsholm Thomsen
1
;
Rune Søe-Knudsen
2
;
David Brandt
2
and
Xuping Zhang
3
Affiliations:
1
Aarhus University Dept. of Engineering, Inge Lehmanns Gade 10, DK-8000 Aarhus C, Denmark, Universal Robots A/S, Energivej 25, DK-5260 Odense S and Denmark
;
2
Universal Robots A/S, Energivej 25, DK-5260 Odense S and Denmark
;
3
Aarhus University Dept. of Engineering, Inge Lehmanns Gade 10, DK-8000 Aarhus C and Denmark
Keyword(s):
Input Shaping, Industrial Robots, Time-varying Input Shaping, Configuration Dependency, Fractional Delay Finite Impulse Response.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Informatics in Control, Automation and Robotics
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Lightweight design leads to the unwanted vibration of industrial robot manipulators. Input Shaping (IS) has been proven to be an effective vibration suppression method. However, applying IS to suppress the vibration of industrial robots faces a challenging problem: time-varying dynamics. To address the time-varying dynamics of robot manipulators, this paper presents a novel and practical solution to vibration suppression based on Time-Varying Input Shaping Technology (TVIST). Our focus in this paper is to develop a practical implementation strategy that can be applied in discrete time. A Fractional Delay Finite Impulse Response filter is employed to design and implement TVIST. This solution makes TVIST more useful in practice because it can be combined with online and discrete-time trajectory generation. It can also be implemented in combination with position control using feed-forward velocity and torque. The performance of the new approach is validated through experimental implemen
tation on a lightweight robot from Universal Robots A/S. Experimental results are analyzed to demonstrate significant vibration suppression and increased productivity of the robot with the proposed solution. The proposed method can be extended to the vibration suppression of other types of industrial robotic manipulators with serial links as well as other time-varying dynamic systems.
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