Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

Abstract Because of their elastic links and joints, high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade positioning accuracy. An effective approach based on the input shaping technique is presented in this paper suppressing vibration these robots. After addressing design principle an shaper a robot with flexible actuated robust optimal developed by considering configuration-dependent modes minimizing maximum percentage at end-effector. The allows good overall performance to be achieved throughout entire workspace. Experimental results 4-DOF SCARA-type show end-effector dramatically reduced dynamic accuracy improved.