Time-Varying Input Shaping Technique Applied to Vibration Reduction of An Industrial Robot - Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conferenc
نویسندگان
چکیده
I t is widely and frequently observed that industrial robots conducting fas t mot ion involve serious residual vibration, the period of which varies with t ime. T o this problem, this paper presents a practical solution by providing a practical design and application of time-varying input shaping technique ( T V I S T ) for a n industrial robot. T o suppress the tame-varying vibration, at first, a guideline for designing practical TVIST is presented. Following the guideline, then, we design T V I S T for a large size 6 degrees of freedom industrial robot. I n doing so, a simple yet effective equat ion is derived f r o m robot dynamic equations t o estimate the time-varying period. Furthermore, a simple payloadadaptation scheme is also included. T h e T V I S T thus designed i s experimented o n the industrial robot under spatial motion and payload variation conditions. T h e experimental results show that the residual vibration is reduced t o less than 10% of original one in magnitude, demonstrating that the e f ic iency of the T V I S T does not compromise i ts effectiveness.
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