The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Linux/RTAI-based Input Shaping Implementation for Suppressing Residual Vibrations

Linux/RTAI기반의 잔류진동 억제 입력성형 구현

  • Received : 2009.07.20
  • Accepted : 2009.08.11
  • Published : 2009.08.31
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Abstract

Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.

Keywords

References

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