Vibration suppression of a 3-PRR flexible parallel manipulator using input shaping

2009 ◽  
Author(s):  
Bing Li ◽  
Xupi Zhang ◽  
James K. Mills ◽  
William L. Cleghorn ◽  
Liyang Xie
Keyword(s):  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Input Shaping

Sensitivity Analysis of Vibration Suppression Based on the Multiple-Mode Negative Impulses Input Shapers

2012 ◽  
Vol 189 ◽  
pp. 312-316
Author(s):  
Yue Zhan Wang ◽  
Qi Bo Yan ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Sensitivity Analysis ◽  
Numerical Simulations ◽  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
System Response ◽  
Input Shaping ◽  
Residual Vibration ◽  
Multiple Mode

The structure of a 3-DOF parallel manipulator is presented. The methodologies of multiple-mode negative impulses input shaping is introduced, which can decrease the delay time of the system response while the residual vibration is suppressed. The parameters of two-mode negative impulses and positive impulses input shapers of the 3-DOF manipulator are presented. The sensitivity analysis of these input shapers are carried out through numerical simulations, and the robust of the input shapers are presented and compared.

scholarly journals Vibration Suppression of a 3-DOF Parallel Manipulator Based on Hybrid Negative Impulses Multi-Mode Input Shaping

2011 ◽  
Vol 2-3 ◽  
pp. 372-377 ◽  
Author(s):  
Yan Yan Han ◽  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Ying Jun Dai
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Vibration Modes ◽  
Residual Vibration ◽  
Input Shaper ◽  
Multi Mode

The classic multi-mode negative impulses input shapers can suppress the residual vibration of the multi-mode system effectively. But when these several frequencies bandwidths and amplitudes of vibration modes are greatly different, the time delay and the suppression performances of input shapers are decreased. However, the hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The hybrid double-mode negative impulses input shapers of a 3-DOF parallel manipulator and are constructed and compared with the classic multi-mode negative impulses input shapers. And the numerical simulations are shown out, for different frequencies bandwidths and amplitudes of vibration, and the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper.

Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1201-1230 ◽  
Author(s):  
Quan Zhang ◽  
James K. Mills ◽  
William L. Cleghorn ◽  
Jiamei Jin ◽  
Zhijun Sun
Keyword(s):  
Boundary Conditions ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Motion Tracking ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Control Analysis ◽  
Residual Vibration ◽  
Modeling And Control ◽  
Exact Boundary

SUMMARYIn this paper, a rigid–flexible planar parallel manipulator (PPM) actuated by three linear ultrasonic motors for high-accuracy positioning is proposed. Based on the extended Hamilton's principle, a rigid–flexible dynamic model of the proposed PPM is developed utilizing exact boundary conditions. To derive an appropriate low-order dynamic model for the design of the controller, the assumed modes method is employed to discretize elastic motion. Then to investigate the interaction between the rigid and elastic motions, a proportional derivative feedback controller combined with a feed-forward-computed torque controller is developed to achieve motion tracking while attenuating the residual vibration. Then the controller is extended to incorporate an input shaper for the further suppression of residual vibration of flexible linkages. Computer simulations are presented as well as experimental results to verify the proposed dynamic model and controller. The input shaping method is verified to be effective in attenuating residual vibration in a highly coupled rigid–flexible PPM. The procedure employed for dynamic modeling and control analysis provides a valuable contribution into the vibration suppression of such a PPM.

Vibration Suppression of Manipulator with Multiple-Mode Negative

2012 ◽  
Vol 549 ◽  
pp. 816-820 ◽  
Author(s):  
Qing Huang ◽  
Dan Zhang ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multiple Mode

The methodologies and application of multiple-mode negative impulses input shaping of a 3-DOF parallel manipulator with flexible intermediate linkages are presented in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the multiple-mode negative impulses input shaping is introduced to reduce the residual vibration of the multiple-mode system and decrease the delay time of the system response at the same time. Finally, the theory of the multiple-mode ZV, ZVD and EI negative impulses input shapers are presented, and the two-mode negative impulses input shapers of a 3-DOF manipulator are established and compared with the positive impulses input shapers.

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.

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