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.
Item URL in elib: | https://elib.dlr.de/55727/ |
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Document Type: | Conference or Workshop Item (Speech, Paper) |
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Title: | An Industrial-Robots Suited Input Shaping Control Scheme |
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Authors: | Authors | Institution or Email of Authors | Author's ORCID iD |
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Kamel, Amine | UNSPECIFIED | UNSPECIFIED | Lange, Friedrich | UNSPECIFIED | UNSPECIFIED | Hirzinger, Gerd | UNSPECIFIED | UNSPECIFIED |
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Date: | 2008 |
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Journal or Publication Title: | Motion and Vibration Control: MOVIC 2008 |
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Refereed publication: | Yes |
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Open Access: | Yes |
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Gold Open Access: | No |
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In SCOPUS: | No |
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In ISI Web of Science: | No |
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Editors: | Editors | Email | Editor's ORCID iD |
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Ulbrich, | UNSPECIFIED | UNSPECIFIED | Ginzinger, | UNSPECIFIED | UNSPECIFIED |
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Publisher: | Springer Verlag |
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Status: | Published |
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Keywords: | vibration control |
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Event Title: | The 9th International Conference on Motion and Vibration Control (MOVIC) |
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Event Location: | München |
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Event Type: | international Conference |
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HGF - Research field: | Aeronautics, Space and Transport (old) |
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HGF - Program: | Space (old) |
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HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme |
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DLR - Research area: | Space |
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DLR - Program: | W SY - Technik für Raumfahrtsysteme |
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DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) |
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Location: |
Oberpfaffenhofen
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Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems |
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Deposited By: |
Klauer, Monika
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Deposited On: | 22 Oct 2008 |
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Last Modified: | 31 Jul 2019 19:23 |
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