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Inverse Model Command Shaper for a Flexible Gantry Robot

Tekles, Nikolas and Krebs, Florian and Reiner, Matthias (2017) Inverse Model Command Shaper for a Flexible Gantry Robot. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Kanada.

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Abstract

Subject of this paper is an industrial gantry robot with elastic behavior. To suppress residual vibrations command shaping filters are widely used. These filters, however, Change the shape and duration of the originally commanded trajectory. Therefore, a command shaping filter is proposed which is based on the inverse model of the flexible robot dynamics. To that end, a planar dynamics model of the robot is derived which is suitable for control design. It captures the relevant dynamics of vibrations including the non-minimum Phase characteristics. Based on the inverse dynamics, a feedforward filter for vibration suppression is developed. The tracking error due to filter delay is reduced compared to other command shaping techniques. The non-minimum phase properties of the flexible dynamics are avoided by using a virtual reference Point for plant inversion. Experimental results show the effectiveness of the roposed Inverse Model Command Shaper compared to other types of filters tuned for vibration suppression.

Item URL in elib:https://elib.dlr.de/114986/
Document Type:Conference or Workshop Item (Speech)
Title:Inverse Model Command Shaper for a Flexible Gantry Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tekles, Nikolasnikolas.tekles (at) dlr.deUNSPECIFIED
Krebs, Florianflorian.krebs (at) dlr.dehttps://orcid.org/0000-0001-6033-801X
Reiner, Matthiasmatthias.reiner (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Industrial Robots; Flexible Robots; Motion Control
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Kanada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control
Deposited By: Tekles, Nikolas
Deposited On:23 Jan 2018 16:54
Last Modified:16 Jul 2019 16:31

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