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

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4 Author(s)
Juyi Park ; Daewoo Shipbuilding & Marine Eng. Co. Ltd., Koje City, South Korea ; Pyung-Hun Chang ; Hyung-Soon Park ; Lee, S.S.

In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-varying nonlinear residual vibration, while conventional IST is applied to the second and third axes. Experimental results show that LIST can suppress residual vibrations to a level similar to that of a time-varying IST which requires complicated real-time estimation of a dynamic model. The LIST is an attractive method for suppression of nonlinear and time-varying residual vibrations in industrial robots which perform repetitive tasks because most industrial robots have limited computing power and memory space in their controllers.

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Mechatronics, IEEE/ASME Transactions on  (Volume:11 ,  Issue: 1 )