Command Shaping for Minimizing Residual Vibration in a Flexible-Joint Robot
نویسندگان
چکیده
منابع مشابه
Command Shaping for Minimizing Residual Vibration in a Flexible-Joint Robot
The performance of mechanical systems is limited by residual oscillations caused by joint fl exibility. Command shaping reduces the residual oscillations at resonance frequencies of the system while achieving fast motions by carefully constructing torque commands to the motors. Two different cost functions are utilized to fi nd the optimal input that minimizes residual oscillations at natural f...
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This paper compares command shaping techniques for controlling residual vibration of high-performance machines. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Because input shaping has similarities to notch filtering, it is compared here with a variety of FIR and IIR filters. Several types of input shapers are pres...
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The method of input shaping has been shown to yield good performance in the control of exible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop a new input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comp...
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In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...
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In the manufacturing industry, lots of rapid point-to-point motion is required while the residual vibration is unfavorable. Residual vibrations caused by flexible elements are limiting the performance of mechanical system, especially when the system needs to make rapid point-to-point motion. As proved in earlier studies, avoiding natural frequencies of the mechanical system reduces the residual...
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ژورنال
عنوان ژورنال: Journal of Purdue Undergraduate Research
سال: 2017
ISSN: 2158-4044,2158-4052
DOI: 10.5703/1288284316411