Combined S-curve feedrate profiling and input shaping for glass substrate transfer robot vibration suppression

2018 ◽  
Vol 45 (4) ◽  
pp. 549-560 ◽  
Author(s):  
Chongxu Liu ◽  
Youdong Chen
Keyword(s):  
Glass Substrate ◽  
Vibration Suppression ◽  
Settling Time ◽  
Input Shaping ◽  
Content Type ◽  
Acceleration And Deceleration ◽  
Increase Productivity ◽  
Continuous Input ◽  
S Curve ◽  
Substrate Transfer

Purpose The glass substrate transfer robot uses flexible arm and fork to transport the glass substrate which will generate vibration. To reduce the settling time and increase productivity, the authors proposed a vibration suppression method that integrated the continuous input shaping into the S-curve feedrate profiling. Design/methodology/approach The quasi-optimal S-curve feedrate profiling is achieved by the robot model. Then the outputs of the S-curve are shaped by the continuous input shaper, which can greatly lower the vibration and shorten the settling time. Findings The robot produces vibrations because of the flexibility of the belt system and the forks; the vibration of the robot is especially obvious in the acceleration and deceleration stage and the low-speed operation stage. Because the fork fingers are flexible, vibration at the end of the fork is enlarged. Originality/value The effectiveness of the proposed method is verified by the comparative experiments conducted on a glass substrate transfer robot.

A Generic Method to Generate AS-Curve Profile in Commercial Motion Controller

2017 ◽  
Author(s):  
Youdun Bai ◽  
Xin Chen ◽  
Zhijun Yang
Keyword(s):  
Motion Controller ◽  
Residual Vibration ◽  
Practical Applications ◽  
Analytic Polynomial ◽  
Acceleration And Deceleration ◽  
Special Knowledge ◽  
Curve Profile ◽  
S Curve ◽  
Motion Profile ◽  
Better Than

It is well believed that S-curve motion profiles are able to reduce residual vibration, and are widely applied in the motion control fields. Recently, a new asymmetric S-curve (AS-curve) motion profile, which is able to effectively adjust the acceleration and deceleration periods, is proposed to enhance the performance of S-curve motion profile, and proved to be better than the traditional symmetric S-curve in many cases. However, most commercial motion controllers do not support the AS-curve motion profiles inherently. Special knowledge or expensive advanced controlling systems, such as dSPACE system, are required to generate the AS-curve motion command, which limits the applications of the AS-curve motion profile in many practical applications. In this paper, a generic method based on the Position-Velocity-Time (PVT) mode move supported by most commercial motion controllers is proposed to generate exact AS-curve motion command in real machines. The analytic polynomial functions of AS-curve motion profile are also derived to simplify the further application, and the effectiveness of the proposed method is verified by numerical simulation.

scholarly journals Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression

2021 ◽  
Vol 25 (1) ◽  
pp. 56-63
Author(s):  
Jinhua She ◽  
Lulu Wu ◽  
Zhen-Tao Liu ◽  
◽  
◽  
...  
Keyword(s):  
Vibration Suppression ◽  
Golden Section ◽  
Input Shaping ◽  
Adaptive Model ◽  
Servo Systems ◽  
Elastic Load ◽  
Model Following Control ◽  
Model Following ◽  
Input Shaper ◽  
Precision Motion

Vibration suppression in servo systems is significant in high-precision motion control. This paper describes a vibration-suppression method based on input shaping and adaptive model-following control. First, a zero vibration input shaper is used to suppress the vibration caused by an elastic load to obtain an ideal position output. Then, a configuration that combines input shaping with model-following control is developed to suppress the vibration caused by changes of system parameters. Finally, analyzing the percentage residual vibration reveals that it is effective to employ the sum of squared position error as a criterion. Additionally, a golden-section search is used to adjust the parameters of a compensator in an online fashion to adapt to the changes in the vibration frequency. A comparison with other input shaper methods shows the effectiveness and superiority of the developed method.

Modified Zero Time Delay Input Shaping for Industrial Robot With Flexibility

2017 ◽  
Author(s):  
Yu Zhao ◽  
Masayoshi Tomizuka
Keyword(s):  
Time Delay ◽  
Vibration Suppression ◽  
Industrial Robot ◽  
Experimental Results ◽  
Input Shaping ◽  
Smooth Motion ◽  
Zero Time

Although input shaping is an effective approach for vibration suppression in a variety of applications, the time delay introduced is not desired. Current techniques to reduce the time delay can not guarantee zero delay or may cause non-smooth motion, which is harmful for the actuators. In order to address such issue, a modified zero time delay input shaping is proposed in this paper. Experimental results show the advantage of the proposed approach.

Whitney Johnson: applying the principles of disruptive entrepreneurship to talent management

2018 ◽  
Vol 46 (5) ◽  
pp. 2-9
Author(s):  
Brian Leavy
Keyword(s):  
Career Development ◽  
Learning Curve ◽  
Employee Engagement ◽  
Management Strategy ◽  
Talent Management ◽  
Disruptive Innovation ◽  
Harvard Business Review ◽  
Content Type ◽  
Entrepreneurial Management ◽  
S Curve

Purpose Whitney Johnson is interviewed about her latest book, Build an A Team: Play to Their Strengths and Lead Them Up the Learning Curve (Harvard Business Review Press, 2018), which extends her disruptive innovation perspective on career development into a talent management strategy for corporate leaders and their organizations. 10; 10; Design/methodology/approach In today’s exciting and volatile competitive context, leaders need to see that the skillful and entrepreneurial management of their talent will be at least as important to their organization’s future success as the skillful and entrepreneurial management of their financial resources. Findings Eager, capable employees, tackling new challenges are drivers of innovation within organizations, and the primary benefit of an S Curve talent management strategy is elevated employee engagement. Practical implications In terms of personal disruption, choosing market risk means being more entrepreneurial with your own career development and seeking out a distinctive learning curve. Originality/value Leaders will need to foster work environments that provide learning opportunities, stretch assignments, new challenging roles internally—not necessarily promotions, but also well-conceived lateral moves that can help to give employees the enhanced skillset to ultimately move ahead.

scholarly journals Host-Microbe Interactions in the Chemosynthetic Riftia pachyptila Symbiosis

mBio ◽  
2019 ◽  
Vol 10 (6) ◽  
Author(s):  
Tjorven Hinzke ◽  
Manuel Kleiner ◽  
Corinna Breusing ◽  
Horst Felbeck ◽  
Robert Häsler ◽  
...  
Keyword(s):  
Deep Sea ◽  
Population Control ◽  
Sequence Information ◽  
Riftia Pachyptila ◽  
Content Type ◽  
Intracellular Symbiont ◽  
Energy Limitation ◽  
Microbe Interactions ◽  
Host Microbe Interactions ◽  
Substrate Transfer

ABSTRACT The deep-sea tubeworm Riftia pachyptila lacks a digestive system but completely relies on bacterial endosymbionts for nutrition. Although the symbiont has been studied in detail on the molecular level, such analyses were unavailable for the animal host, because sequence information was lacking. To identify host-symbiont interaction mechanisms, we therefore sequenced the Riftia transcriptome, which served as a basis for comparative metaproteomic analyses of symbiont-containing versus symbiont-free tissues, both under energy-rich and energy-limited conditions. Our results suggest that metabolic interactions include nutrient allocation from symbiont to host by symbiont digestion and substrate transfer to the symbiont by abundant host proteins. We furthermore propose that Riftia maintains its symbiont by protecting the bacteria from oxidative damage while also exerting symbiont population control. Eukaryote-like symbiont proteins might facilitate intracellular symbiont persistence. Energy limitation apparently leads to reduced symbiont biomass and increased symbiont digestion. Our study provides unprecedented insights into host-microbe interactions that shape this highly efficient symbiosis. IMPORTANCE All animals are associated with microorganisms; hence, host-microbe interactions are of fundamental importance for life on earth. However, we know little about the molecular basis of these interactions. Therefore, we studied the deep-sea Riftia pachyptila symbiosis, a model association in which the tubeworm host is associated with only one phylotype of endosymbiotic bacteria and completely depends on this sulfur-oxidizing symbiont for nutrition. Using a metaproteomics approach, we identified both metabolic interaction processes, such as substrate transfer between the two partners, and interactions that serve to maintain the symbiotic balance, e.g., host efforts to control the symbiont population or symbiont strategies to modulate these host efforts. We suggest that these interactions are essential principles of mutualistic animal-microbe associations.

Holistic spiritual capital: definition and its measurement

2019 ◽  
Vol 22 (1) ◽  
pp. 96-110 ◽  
Author(s):  
Marta Mas-Machuca ◽  
Frederic Marimon
Keyword(s):  
Structural Equation ◽  
Ethical Climate ◽  
Equation Modeling ◽  
Content Type ◽  
Spiritual Capital ◽  
Four Dimensions ◽  
Increase Productivity ◽  
Confirmatory Analysis ◽  
Practical Implications ◽  
Metric Scale

Purpose The purpose of this paper is to define a new and broader concept of spirituality called holistic spiritual capital (HSpC), which encompasses and identifies the dimensions proposed by various authors and to propose a metric scale for HSpC and its validation. Design/methodology/approach The analysis is based on a survey of 201 residents of Spain administered in May, 2015. Exploratory factor analysis and a subsequent confirmatory analysis were conducted using structural equation modeling (SEM) techniques with EQS software. Findings Four dimensions reflect the latent construct of HSpC in different ways: health, creativity, morality and religiosity. Practical implications The measurement of HSpC should be considered relevant to organizations, but not merely because it may be a tool to increase productivity. Ethical climate influenced organizational commitment and hence it enhances performance indicators. Originality/value The proposed scale encompasses in a unique instrument some dimensions considered previously in the literature independently.

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