Vibration Reduction of Flexible Fruit Picking Robot by Adaptive Input Shaping Method

被引：0

作者：

Liu, Dexin ^{[1
]}

Fang, Jianjun ^{[1
]}

机构：

[1] Beijing Union Univ, Coll Automat, Beijing, Peoples R China

来源：

2016 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2016年

基金：

北京市自然科学基金;

关键词：

Picking robot; flexible load; adaptive input shaping; vibration reduction; MANIPULATOR CONTROL;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive input shaping algorithm for vibration control of the fruits picking robot was proposed in the situation of flexible load unknown. The angular velocity of manipulator's link was taken advantage to design feed forward impulse preshaping input online. The impulse time and amplitude were calculated through the input and output of the system. Preshaping command would lose its vibration suppressing function when the system frequency changed during manipulator's load varied. Then the vibration of manipulator's tip was suppressed by adaptive shaping input command designed according to preshaping command. Meanwhile, the feasibility of the algorithm was proved through theoretical analysis, and the the robust performance with frequency mismatch was analyzed in detail. Simulations were carried out finally. Results show the algorithm for flexible manipulator can solve load-varying vibration control problem and has qualified tip vibration suppressing and angular input. tracking ability.

引用

页码：169 / 173

页数：5

共 13 条

[1] An adaptive algorithm for the tuning of two input shaping methods [J].

Bodson, M .

AUTOMATICA, 1998, 34 (06) :771-776

[2] Adaptive input shaping for maneuvering flexible structures [J].

Cutforth, CF ;

Pao, LY .

AUTOMATICA, 2004, 40 (04) :685-693

[3] Optimal unity-magnitude input shaper duration analysis [J].

Guerleyuek, Sirri Sunay .

ARCHIVE OF APPLIED MECHANICS, 2007, 77 (01) :63-71

[4]

Matthew O. T. C., 2011, DISCRETE TIME APPROA, V47, P2504

[5] Robust input shaper control design for parameter variations in flexible structures [J].

Pao, LY ;

Lau, MA .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2000, 122 (01) :63-70

[6] Learning Input Shaping Technique for non-LTI systems [J].

Park, J ;

Chang, PH .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2001, 123 (02) :288-293

[7] Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique [J].

Pereira, E. ;

Trapero, J. R. ;

Diaz, I. M. ;

Feliu, V. .

AUTOMATICA, 2009, 45 (04) :1046-1051

[8] Adaptive time-delay command shaping filter for flexible manipulator control [J].

Rhim, S ;

Book, WJ .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2004, 9 (04) :619-626

[9] Noise effect on adaptive command shaping methods for flexible manipulator control [J].

Rhim, S ;

Book, WJ .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2001, 9 (01) :84-92

[10] PRESHAPING COMMAND INPUTS TO REDUCE SYSTEM VIBRATION [J].

SINGER, NC ;

SEERING, WP .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1990, 112 (01) :76-82

← 1 2 →