Reducing vibration by error compensation input shaping technique

被引：0
|
作者：
Li L. [1 ]
Hu X.-Q. [1 ]
Zou Y.-B. [1 ]
Liu X.-G. [2 ]
机构：
[1] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou
[2] Guilin University of Aerospace Technology, Guilin
来源：
Zhendong Gongcheng Xuebao/Journal of Vibration Engineering | 2019年 / 32卷 / 06期
关键词：
Error compensation; Input shaping technique; Modal parameters; Residual vibration; Robot;
D O I：
10.16385/j.cnki.issn.1004-4523.2019.06.008
中图分类号：
学科分类号：
摘要：
To address the time delay problem introduced by shaper during vibration control with input shaping technique, an integrated method of error compensation and modal parameters identification is proposed to reduce the residual vibration of robot end-effector. Firstly, to overcome the time delay problem of input shaper, an error compensation method is used to permit the precise tracking of a ramp input. Then, a parameter identification algorithm which combined with Fourier spectrum analysis and time domain analysis is carried out for the purpose of designing effective input shaper. Finally, a 6 degrees-of-freedom industrial robot performing point-to-point motion is used as an application case. The experimental results show that the proposed method significantly reduces the residual vibration of the end-effector, and the error compensation method is effective for fixed time length motion. © 2019, Nanjing Univ. of Aeronautics an Astronautics. All right reserved.
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页码：996 / 1002
页数：6
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