High speed position control of a swinging load

Norbert Chang, Naomi Chang, Timothy Chang, Edwin Hou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents the control design and test results of the high speed position control of a spherical pendulum system. Altogether three oscillatory modes are considered: two swing modes and a torsion mode. A sequence of input shapers including the Zero Vibration and Zero Vibration-Derivative shapers are implemented in the robot controller to minimize command induced cable swing. Experiment data confirms that the proposed sequential input shaper method minimizes oscillations as well as settling times of the test trajectory execution.

Original languageEnglish (US)
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages190-195
Number of pages6
DOIs
StatePublished - Dec 27 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: Jul 4 2010Jul 7 2010

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
CountryItaly
CityBari
Period7/4/107/7/10

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Keywords

  • Feedforward control
  • Input shaping
  • Pendulum position control
  • Swinging load
  • Torsion oscillation

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