Model reference input shaper design with applications to a high-speed robotic workcell with variable loads

In this paper, the model reference zero vibration (MRZV) control design is introduced to improve transient performance of robotic manipulators. MRZV consists of a zero vibration (ZV) shaper as the feedforward control while utilizing model reference control to improve robustness and performance under plant model parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant model variations while maintaining the performance characteristics compared to standard shaper designs such as ZV and ZV and Derivative. A synthesis procedure is provided for the MRZV method to guarantee a prespecified level of residual vibration. Experimental verifications based on a standard cycle time test are carried out on an Adept Technology Cartesian robot. Results confirm the effectiveness of the proposed method.