کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10400256 890903 2005 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Time-varying input shaping technique applied to vibration reduction of an industrial robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Time-varying input shaping technique applied to vibration reduction of an industrial robot
چکیده انگلیسی
It is widely and frequently observed that industrial robots conducting fast motion involve serious residual vibration, the period of which varies with time. To address this time-varying residual vibration problem, this paper presents a practical solution based on a time-varying input shaping technique (TVIST). First, to suppress the time-varying vibration, a guideline for designing a practical TVIST is presented. Following the guideline, a TVIST for a heavy 6 DOF industrial robot is designed. In doing so, a simple yet effective equation is derived from robot dynamic equations to schedule the time-varying period. Furthermore, a simple payload-adaptation scheme is also included. Then, experiments are performed by using the TVIST for the industrial robot under spatial motion and payload variation. The experimental results show that the residual vibration is reduced to less than 14% of the original level in magnitude and the time delay caused by pre-filtering is shortened, demonstrating the efficiency and effectiveness of the proposed TVIST.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 13, Issue 1, January 2005, Pages 121-130
نویسندگان
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