High speed position control of a swinging load

Norbert Chang; Naomi Chang; Timothy Chang; Edwin Hou

doi:10.1109/ISIE.2010.5637589

High speed position control of a swinging load

Norbert Chang, Naomi Chang, Timothy Chang, Edwin Hou

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages	190-195
Number of pages	6
DOIs	https://doi.org/10.1109/ISIE.2010.5637589
State	Published - 2010
Event	2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy Duration: Jul 4 2010 → Jul 7 2010

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Country/Territory	Italy
City	Bari
Period	7/4/10 → 7/7/10

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

Access to Document

10.1109/ISIE.2010.5637589

Cite this

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title = "High speed position control of a swinging load",

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.",

keywords = "Feedforward control, Input shaping, Pendulum position control, Swinging load, Torsion oscillation",

author = "Norbert Chang and Naomi Chang and Timothy Chang and Edwin Hou",

year = "2010",

doi = "10.1109/ISIE.2010.5637589",

language = "English (US)",

isbn = "9781424463916",

series = "IEEE International Symposium on Industrial Electronics",

pages = "190--195",

booktitle = "ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics",

note = "2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 ; Conference date: 04-07-2010 Through 07-07-2010",

}

Chang, N, Chang, N, Chang, T & Hou, E 2010, High speed position control of a swinging load. in ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics., 5637589, IEEE International Symposium on Industrial Electronics, pp. 190-195, 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010, Bari, Italy, 7/4/10. https://doi.org/10.1109/ISIE.2010.5637589

TY - GEN

T1 - High speed position control of a swinging load

AU - Chang, Norbert

AU - Chang, Naomi

AU - Chang, Timothy

AU - Hou, Edwin

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Feedforward control

KW - Input shaping

KW - Pendulum position control

KW - Swinging load

KW - Torsion oscillation

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U2 - 10.1109/ISIE.2010.5637589

DO - 10.1109/ISIE.2010.5637589

M3 - Conference contribution

AN - SCOPUS:78650374185

SN - 9781424463916

T3 - IEEE International Symposium on Industrial Electronics

SP - 190

EP - 195

BT - ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics

T2 - 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010

Y2 - 4 July 2010 through 7 July 2010

ER -

High speed position control of a swinging load

Abstract

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All Science Journal Classification (ASJC) codes

Keywords

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