Trajectory control of robot with model reference zero vibration shaper

Yuan Ding; Timothy Chang

doi:10.1109/ICMECH.2006.252600

Trajectory control of robot with model reference zero vibration shaper

Yuan Ding, Timothy Chang

Civil and Environmental Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

In this work, the Model Reference Zero Vibration (MKZV) control design is introduced to improve performance of robotic manipulators. MRZV consists of a ZV (Zero Vibration) shaper as the feedforward control while utilizing model reference feedback to improve robustness and performance under plant parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant variations while maintaining the performance characteristics compared to standard shaper designs, such as ZV and ZVD (Zero Vibration and Derivative). Experimental verifications are carried out on an Adept Technology Cartesian robot and the results confirm the effectiveness of the proposed method.

Original language	English (US)
Title of host publication	2006 IEEE International Conference on Mechatronics, ICM
Pages	636-641
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2006.252600
State	Published - 2006
Event	2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary Duration: Jul 3 2006 → Jul 5 2006

Publication series

Name	2006 IEEE International Conference on Mechatronics, ICM

Conference

Conference	2006 IEEE International Conference on Mechatronics, ICM
Country/Territory	Hungary
City	Budapest
Period	7/3/06 → 7/5/06

All Science Journal Classification (ASJC) codes

Computer Science Applications
Electrical and Electronic Engineering
Mechanical Engineering

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10.1109/ICMECH.2006.252600

Cite this

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title = "Trajectory control of robot with model reference zero vibration shaper",

abstract = "In this work, the Model Reference Zero Vibration (MKZV) control design is introduced to improve performance of robotic manipulators. MRZV consists of a ZV (Zero Vibration) shaper as the feedforward control while utilizing model reference feedback to improve robustness and performance under plant parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant variations while maintaining the performance characteristics compared to standard shaper designs, such as ZV and ZVD (Zero Vibration and Derivative). Experimental verifications are carried out on an Adept Technology Cartesian robot and the results confirm the effectiveness of the proposed method.",

author = "Yuan Ding and Timothy Chang",

year = "2006",

doi = "10.1109/ICMECH.2006.252600",

language = "English (US)",

isbn = "0780397134",

series = "2006 IEEE International Conference on Mechatronics, ICM",

pages = "636--641",

booktitle = "2006 IEEE International Conference on Mechatronics, ICM",

note = "2006 IEEE International Conference on Mechatronics, ICM ; Conference date: 03-07-2006 Through 05-07-2006",

}

TY - GEN

T1 - Trajectory control of robot with model reference zero vibration shaper

AU - Ding, Yuan

AU - Chang, Timothy

PY - 2006

Y1 - 2006

N2 - In this work, the Model Reference Zero Vibration (MKZV) control design is introduced to improve performance of robotic manipulators. MRZV consists of a ZV (Zero Vibration) shaper as the feedforward control while utilizing model reference feedback to improve robustness and performance under plant parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant variations while maintaining the performance characteristics compared to standard shaper designs, such as ZV and ZVD (Zero Vibration and Derivative). Experimental verifications are carried out on an Adept Technology Cartesian robot and the results confirm the effectiveness of the proposed method.

AB - In this work, the Model Reference Zero Vibration (MKZV) control design is introduced to improve performance of robotic manipulators. MRZV consists of a ZV (Zero Vibration) shaper as the feedforward control while utilizing model reference feedback to improve robustness and performance under plant parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant variations while maintaining the performance characteristics compared to standard shaper designs, such as ZV and ZVD (Zero Vibration and Derivative). Experimental verifications are carried out on an Adept Technology Cartesian robot and the results confirm the effectiveness of the proposed method.

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DO - 10.1109/ICMECH.2006.252600

M3 - Conference contribution

AN - SCOPUS:34250808551

SN - 0780397134

SN - 9780780397132

T3 - 2006 IEEE International Conference on Mechatronics, ICM

SP - 636

EP - 641

BT - 2006 IEEE International Conference on Mechatronics, ICM

T2 - 2006 IEEE International Conference on Mechatronics, ICM

Y2 - 3 July 2006 through 5 July 2006

ER -

Trajectory control of robot with model reference zero vibration shaper

Abstract

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All Science Journal Classification (ASJC) codes

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