Abstract
This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on a two-axis Adept Technology Robotic Workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 280-291 |
| Number of pages | 12 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 3518 |
| State | Published - 1998 |
| Event | Proceedings of the 1998 Conference on Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics - Boston, MA, USA Duration: Nov 4 1998 → Nov 5 1998 |
All Science Journal Classification (ASJC) codes
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering