Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-18T21:46:16.791Z Has data issue: false hasContentIssue false
  • English
  • Français

Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Published online by Cambridge University Press:  09 March 2009

Jung-Keun Cho  and
Youn-Sik Park
Jung-Keun Cho
Affiliation:
Daewoo Motor Co. Ltd (Korea).
Youn-Sik Park
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, KAIST, Science Town, Taejeon 305–701 (Korea).
Get access Rights & Permissions [Opens in a new window]

Summary

In the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator system

The manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

Keywords

Impulse shapingVibration reductionFlexible manipulator
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 339 - 345
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

1.Singer, N.C. and Seering, W.P., “Preshaping Command Inputs to Reduce System Vibration” ASME J. of Dynamic Systems, Measurement, and Control 112, 76–82 (Mar., 1990).CrossRefGoogle Scholar
2.Hyde, J.M., “Multiple Mode Vibration Suppression in Controlled Flexible Systems” MS Thesis (Department of Mechanical Engineering, MIT, 1991).CrossRefGoogle Scholar
3.Hyde, J.M. and Cutcosky, M.R., “Contact Transition Control: An Experimental Study” Proceedings of the 1993 IEEE International Conference on Robotics and Automation,(May, 1993) Vol. 1, pp. 363–368.Google Scholar
4.Drapeau, V. and Wang, D., “Verificaton of a Closed-loop Shaped-input Controller for a Five-bar-linkage Manipulator” Proceedings of the 1993 International Conference on Robotics and Automation(May, 1993) Vol. 1, pp. 216–227.Google Scholar
5.Murphy, B.R. and Watanabe, I., “Digital Shaping Filters for Reducing Machine Vibration” IEEE Transactions on Robotics and Automation 8, No. 2, 285–289 (04, 1992).CrossRefGoogle Scholar
6.Singh, T. and Vadali, S.R., “Robust Time-Delay Control of Multimode Systems” Proceedings of the 1994 American Control Conference(June, 1994) Vol. 1, pp. 681–685.Google Scholar
7.Magee, D.P. and Book, W.J., “Experimental Verification of Modified Command Shaping using a Flexible Manipulator” Proceedings of the First International Conference on Motion and Vibration Control,Yokohama(Sept., 1992) pp. 553–558.Google Scholar
8.Magee, D.P. and Book, W.J., “Eliminating Multiple Modes of Vibration in a Flexible Manipulator” Proceedings of the 1993 IEEE International Conference on Robotics and Automation(May, 1993) Vol. 2, pp. 474–479.Google Scholar
9.Singhose, W., Singer, N., and Seering, W., “Design and Implementation of Time-Optimal Negative Input Shapers” Proceedings of the 1994 ASME Conference on Dynamic Systems and Control,Chicago(Nov., 1994) Vol. 55–1, pp. 151–157.Google Scholar
10.Cho, J.K. and Park, Youn-sik, “Vibration Reduction in Flexible Systems Using Time-Varying Impulse Sequence” Robotica 13, part 3, 305–313 (1995).CrossRefGoogle Scholar
11.Cho, J.K. and Park, Youn-sik, “Input Shaping to Reduce Vibration of a Time-Varying System” Proceedings of the Second International Conference on Motion and Vibration Control,Yokohama(Sept. 1994) pp. 599–604.Google Scholar