Design of learning input shaping technique for residual vibration suppression in an industrial robot

2006 ◽  
Vol 11 (1) ◽  
pp. 55-65 ◽  
Author(s):  
Juyi Park ◽  
Pyung-Hun Chang ◽  
Hyung-Soon Park ◽  
Eunjeong Lee
Keyword(s):  
Vibration Suppression ◽  
Industrial Robot ◽  
Input Shaping ◽  
Residual Vibration ◽  
Shaping Technique ◽  
Residual Vibration Suppression

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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