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

Document Type

Article

Publication Date

2-1-2008

Abstract

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. © 2008 IEEE.

Identifier

40449138264 (Scopus)

Publication Title

IEEE Transactions on Industrial Electronics

External Full Text Location

https://doi.org/10.1109/TIE.2007.896442

ISSN

02780046

First Page

842

Last Page

851

Issue

2

Volume

55

Grant

0243302

Fund Ref

National Science Foundation

This document is currently not available here.

Share

COinS