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An Industrial-Robots Suited Input Shaping Control Scheme

Kamel, Amine and Lange, Friedrich and Hirzinger, Gerd (2008) An Industrial-Robots Suited Input Shaping Control Scheme. In: Motion and Vibration Control: MOVIC 2008. Springer Verlag. The 9th International Conference on Motion and Vibration Control (MOVIC), München.

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Abstract

Compliance in robot mounted force/torque sensors is useful for soft mating of parts in many assembly tasks. Nevertheless, it generates nearly undamped oscillations when moving a heavy end-effector in free space. In this paper, input shaping control is investigated to damp such unwanted flexible modes. However, the conventional method presents a major drawback: To eliminate the oscillatory dynamics, the desired motion profiles have to be shaped and thus modified. This means that although the unwanted vibrations are damped, the robot motion does not meet the desired one. In this paper we first review the conventional input shaping technique. Second we show how the mentioned problem may be fixed in the design phase by discretizing the filter and by using a predictive approach that compensates the shaped signals time delay and minimizes the resulting control error. Simulation results are presented.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:An Industrial-Robots Suited Input Shaping Control Scheme
Authors:
AuthorsInstitution or Email of Authors
Kamel, AmineUNSPECIFIED
Lange, FriedrichUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Motion and Vibration Control: MOVIC 2008
Refereed publication:Yes
In ISI Web of Science:No
Editors:
EditorsEmail
Ulbrich, UNSPECIFIED
Ginzinger, UNSPECIFIED
Publisher:Springer Verlag
Status:Published
Keywords:vibration control
Event Title:The 9th International Conference on Motion and Vibration Control (MOVIC)
Event Location:München
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:22 Oct 2008
Last Modified:12 Dec 2013 20:33

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