Residual vibration suppression of a tomatoes' string picking robot: A cascade design method

The suppression of the residual vibration in the tomatoes' string picking system is a very import issue. The paper has proposed a cascade design method. To control the manipulator, a lead-lag compensator is firstly designed, then followed by twice designs of input shaping processes so as to reduce the residual vibration of the tomatoes' string. Simulations verified the validity of the method. The manipulator is moved to the destination position and the residual vibration of the tomatoes' string is completely suppressed at the same time.