Residual Vibration Suppression by an Integrated Method of Parameter Identification and Input Shaping

Serious residual vibrations are widely and frequently observed when industrial robots are conducting fast motions. Input shaping technology is used to reduce the residual vibration of many systems by generating a command signal that is self-canceling. It is difficult to obtain the modal parameters of the system due to the modeling errors. Thus, the residual vibration are never exactly suppressed on real systems. In the light of these problems, an integrated method of parameter identification and input shaping technology is proposed and a modified input shaping approach is developed, The time delay introduced by conventional input shaping technique is fully compensated in the proposed approach. In order to achieve the precise and rapid rest-to-rest motion, a single degree-of-freedom robot arm is used as an application case. Experimental results show that theproposed method significantly reduces the residual vibrationof the robot arm,the maximum amplitude of residual vibration is only 31% of the original's. At the same time, the settle time is shortened from 0.118 s to 0.043 s, and the total time of motion control is reduced from 1.738 s to 1.643 s. © 2019, Editorial Department of JVMD. All right reserved.