scholarly journals The Residual Vibration Control of Robot Arm with Length-Changing Using Input Shaping Filter

2016 ◽  
Keyword(s):  
Vibration Control ◽  
Input Shaping ◽  
Robot Arm ◽  
Residual Vibration ◽  
Shaping Filter

scholarly journals The Residual Vibration Control of Robot Arm with Length-Changing Using Input Shaping Filter

2017 ◽  
Vol 10 (3) ◽  
pp. 253-256 ◽  
Author(s):  
Un-Hwan Park ◽  
◽  
Jun-Hyeok Heo ◽  
Tae-Hyeon Oh ◽  
In-Sung Lee ◽  
...  
Keyword(s):  
Vibration Control ◽  
Input Shaping ◽  
Robot Arm ◽  
Residual Vibration ◽  
Shaping Filter

Performance Measure of Residual Vibration Control

2011 ◽  
Vol 133 (4) ◽  
Author(s):  
Chul-Goo Kang
Keyword(s):  
Vibration Control ◽  
Vibration Amplitude ◽  
Performance Measure ◽  
Input Shaping ◽  
Residual Vibration ◽  
Modeling Errors ◽  
Experimental Works ◽  
A Performance

The robustness of residual vibration control, such as input shaping, has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping at the time of the final impulse. However, in that robustness evaluation, vibration-suppressing speed due to each residual vibration control has not been considered, which is also an important aspect of residual vibration control. In this paper, a performance measure including robustness to modeling errors and the effect of vibration-suppressing speed is defined, and the validity of the performance measure is demonstrated by simulations and experimental works.

Improving Manual Control of Two-Link Pendulum on Gantry Crane With Anti-Delay Closed-Loop Input Shaping

2017 ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Nitirong Pongpanich ◽  
Pisai Yaemprasuan
Keyword(s):  
Feedback Loop ◽  
Closed Loop ◽  
Smith Predictor ◽  
Human Operator ◽  
Manual Control ◽  
Gantry Crane ◽  
Input Shaping ◽  
Flexible Systems ◽  
Residual Vibration ◽  
Shaping Filter

This paper presents a novel and improved technique in manual control of flexible systems. Flexible systems, when subject to a rapid movement commanded by a human operator, exhibit severe oscillation, causing low positioning accuracy, high fatigue to the human operator, and unsafe accidents. Input shaping filter was proposed to reduce this oscillation by using the destructive interference principle where impulse responses cancel one another resulting in zero residual vibration. Recently, the input shaping filter was placed inside the feedback loop, so-called closed-loop signal shaping, to assist with the manual control of the flexible systems. The vibration was successfully suppressed. However, the input shaping filter also introduced time delays in the feedback loop, which limit the performance of the human operator. This paper offers a breakthrough idea by introducing an anti-delay algorithm called Smith predictor inside the feedback loop. When the plant model is perfect, it can be shown that the Smith predictor can entirely remove the effect of time delay from the feedback loop; therefore, improving the performance of the human operator. Experiments on manual control of a two-link pendulum on a gantry crane show the effectiveness of the proposed algorithm. The human operator was able to move the two-link pendulum with minimum residual vibration. Comparing to the currently world-best technique, the proposed technique could achieve faster maneuvering time, higher accuracy, and with less subjective difficulty.

Effect of Input Shaping on Response of Inertia Plants

2011 ◽  
Vol 121-126 ◽  
pp. 2676-2680
Author(s):  
Ming Xiao Dong ◽  
Rui Chuan Li ◽  
Qin Zu Xu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Setting Time ◽  
Input Shaping ◽  
Pd Controller ◽  
Residual Vibration ◽  
Simulation Results ◽  
Analytical Expressions ◽  
Input Shaping Control

A poorly designed control system can lead to excessive residual vibration and long setting time. This paper investigates the effect of input shaping on control efficiency. To perform this investigation, we design a PD controller combined with input shaping for an inertia plant. We then subject it to four standard types of inputs. The responses of the control systems are described by analytical expressions. The performances of PD control and PD combined with input-shaping control are thoroughly analyzed and compared. Simulation results show that PD feedback control enhanced with input shaping minimizes overshoot and setting time.

scholarly journals INPUT SHAPING CONTROL TO REDUCE RESIDUAL VIBRATION OF A FLEXIBLE BEAM

2016 ◽  
Vol 32 (1) ◽  
pp. 75-90 ◽  
Author(s):  
Quoc Chi Nguyen ◽  
Ha Quang Thinh Ngo
Keyword(s):  
Control Algorithms ◽  
Input Shaping ◽  
Flexible Beam ◽  
Residual Vibration ◽  
Motion System ◽  
Damped System ◽  
Input Shaping Control

In this paper, three control algorithms based on input shaping method are developed to suppress the residual vibration of a flexible beam. The flexible beam is modeled as an under-damped system. Three input shapers, ZV, ZVD, and ZVDD, are used to control the flexible beam. The three control algorithms are implemented by using the Mechatrolink-III motion system. The experiments are performed to verify the effectiveness of the three control algorithms.

Input Shaping for Flexible System With Nonlinear Spring and Damper

2017 ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Ittidej Moonmangmee ◽  
Pisit Intarawirat
Keyword(s):  
Linear System ◽  
Input Shaping ◽  
Destructive Interference ◽  
Impulse Responses ◽  
Residual Vibration ◽  
Energy Principle ◽  
Nonlinear Spring ◽  
Flexible System ◽  
Input Shaper ◽  
Simulation And Experiment

Input shaping suppresses residual vibration by destructive interference of the impulse responses. Because proper destructive interference requires superposition property of the linear system, traditional input shaper only applies to the linear flexible system. In this paper, the work and energy principle is used to derive input shaper for flexible system having nonlinear spring and damper. It was shown via simulation and experiment that this type of shaper performs well with nonlinear systems. Positive, robust, and negative input shapers are discussed.

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