Optimal input shaper design and application to high speed robotic workcells

Document Type

Conference Proceeding

Publication Date

12-1-1998

Abstract

This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on a two-axis Adept Technology Robotic Workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Identifier

0032292772 (Scopus)

Publication Title

Proceedings of SPIE the International Society for Optical Engineering

ISSN

0277786X

First Page

280

Last Page

291

Volume

3518

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