Time-varying input shaping technique applied to vibration reduction of an industrial robot
Time-varying input shaping technique applied to vibration reduction of an industrial robot
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DOI：
10.1109/iros.1999.813018
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发表时间：
1999-10
期刊：
影响因子：
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通讯作者：
Hyung‐Soon Park;P. Chang;J. Hur
中科院分区：
文献类型：
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作者：
Hyung‐Soon Park;P. Chang;J. Hur
人们广泛而频繁地观察到，工业机器人在快速运动时会产生严重的残余振动，其周期随时间而变化。针对这一问题，本文提出了一种实用的解决方案，提供了一个实际的设计和应用的时变输入成形技术（TVIST）的工业机器人。为了抑制时变振动，首先提出了一种实用TVIST的设计准则。根据这一指导思想，我们设计了一个大型6自由度工业机器人TVIST。在这样做时，一个简单而有效的方程推导出机器人动力学方程估计的时变周期。此外，还包括一个简单的有效负载自适应方案。TVIST因此设计的实验上的工业机器人在空间运动和负载变化的条件下。实验结果表明，残余振动的幅度减少到原来的10%以下，证明TVIST的效率并不影响其有效性。
It is widely and frequently observed that industrial robots conducting fast motion involve serious residual vibration, the period of which varies with time. To this problem, this paper presents a practical solution by providing a practical design and application of time-varying input shaping technique (TVIST) for an industrial robot. To suppress the time-varying vibration, at first, a guideline for designing practical TVIST is presented. Following the guideline, then, we design TVIST for a large size 6 degrees of freedom industrial robot. In doing so, a simple yet effective equation is derived from robot dynamic equations to estimate the time-varying period. Furthermore, a simple payload adaptation scheme is also included. The TVIST thus designed is experimented on the industrial robot under spatial motion and payload variation conditions. The experimental results show that the residual vibration is reduced to less than 10% of original one in magnitude, demonstrating that the efficiency of the TVIST does not compromise its effectiveness.