Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Embedded Input Shaper: Difference between Trapezoidal Profile and S-curve Profile

내재된 입력성형기: 사다리꼴 프로파일과 S-커브 프로파일의 차이

  • Ha, Chang-Wan (Department of Magnetic Levitation and Linear Drive, Korea Institute of Machinery & Materials) ;
  • Lee, Dongwook (Department of Mechanical Engineering, Korea Advanced Korea Advanced Institute of Science and Technology) ;
  • Yoon, Byungho (Department of Mechanical Engineering, Korea Advanced Korea Advanced Institute of Science and Technology) ;
  • Rew, Keun-Ho (Department of Robotics Engineering, Hoseo University) ;
  • Kim, Kyung-Soo (Department of Mechanical Engineering, Korea Advanced Korea Advanced Institute of Science and Technology)
  • 하창완 (한국기계연구원 자기부상연구실) ;
  • 이동욱 (KAIST 기계항공시스템학부) ;
  • 윤병호 (KAIST 기계항공시스템학부) ;
  • 류근호 (호서대학교 기계공학부) ;
  • 김경수 (KAIST 기계항공시스템학부)
  • Received : 2014.07.07
  • Accepted : 2014.09.15
  • Published : 2014.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we discuss the relation between the motion profile and pre-filter. As previously reported in various literatures [1-3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper. In contrast to the previously reported impulse-sequence-based input shapers, the input shaper extracted from the motion profile has unique characteristics. Thanks to the characteristics of the input shaper extracted from the motion profile, it has advantages to reduce the vibrations caused by not only the modeled vibratory mode but also unmodeled dynamics which exist in higher frequency ranges.

Keywords

References

  1. C.-W. Ha, K.-H. Rew, and K.-S. Kim, "Zero placement of the asymmetric S-curve profile to minimize the residual vibration," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 4, pp. 308-313, 2012. https://doi.org/10.5302/J.ICROS.2012.18.4.308
  2. C.-W. Ha, K.-H. Rew, and K.-S. Kim, "Robust zero placement for motion control of lightly damped systems," IEEE Transactions on Industrial Electronics, vol. 60, no. 9, pp. 3857-3864. Sep. 2013. https://doi.org/10.1109/TIE.2012.2206334
  3. K.-H. Rew, C.-W. Ha, and K.-S. Kim, "A practically efficient method for motion control based on asymmetric velocity profile," International Journal of Machine Tools & Manufacture, vol. 49, no. 7-8, pp. 678-682. Jun. 2009. https://doi.org/10.1016/j.ijmachtools.2009.01.008
  4. S. K Yun, P. H. Chang, and Juyi Park, "Development of negative input shaping technique for MIMO system," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 6, no. 12, pp. 1045-1052, 2000.
  5. S. Park, K. K Kim, W. K Chung, and Y. Youm, "Residual vibration suppression of a beam-mass-cart system by input preshaping with a robust internal-loop compensator," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 7, no. 3, pp. 198-208, 2001.
  6. J.-D. Kim, C.-S. Cho, H.-J. Lee, C.-B. Shin, and C.-H. Park, "A study on the motion analysis and lead-filter design for high speed/accuracy movement of gantry robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 1, pp. 31-37, 2011. https://doi.org/10.5302/J.ICROS.2011.17.1.31
  7. N. C. Singer and W. P. Seering, "Preshaping command inputs to reduce system vibration," Journal of Dynamic Systems, Measurement, and Control, vol. 112, no. 1, pp. 76-82, 1990. https://doi.org/10.1115/1.2894142
  8. J. Vaughan, A. Yano, and W. E. Singhose, "Comparison of robust input shapers," Journal of Sound and Vibration, vol. 315, no. 4-5, pp. 797-815, Sep. 2008. https://doi.org/10.1016/j.jsv.2008.02.032
  9. K.-H. Rew, C.-W. Ha, and K.-S. Kim, "An impulse-time perturbation approach for enhancing the robustness of extra-insensitive input shapers," Automatica, vol. 49, no. 11, pp. 3425-3431, Nov. 2013. https://doi.org/10.1016/j.automatica.2013.08.015
  10. C. Lewin, "Motion control gets gradually better," Machine Design, vol. 7, no. 21, pp. 90-94, Nov. 1994.
  11. K. D. Nguyen, T. C. Ng, and I. M. Chen, "On algorithms for planning s-curve motion profiles," International Journal of Advanced Robotic Systems, vol. 5, no. 1, pp. 99-106, 2008.
  12. H. Li, M. D. Le, Z. M. Gong, and W. Lin, "Motion profile design to reduce residual vibration of high-speed positioning stages," IEEE Transactions on Mechatronics, vol. 14, no. 2, pp. 264-269, Apr. 2009. https://doi.org/10.1109/TMECH.2008.2012160
  13. K.-H. Rew, J.-T. Kwon, K. Park, "Antisymmetric S-curve profile for fast and vibrationless motion," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 12, no. 10, pp. 1012-1017, 2006.
  14. K.-H. Rew and K.-S. Kim, "A closed-form solution to asymmetric motion profile allowing acceleration manipulation," IEEE T. Ind. Electron., vol. 57, no. 7, pp. 2499-2506, Jul. 2010.
  15. S. Tanaka and S. Kouno, "Automatic measurement and control of the attitude of crane lifters: Lifter-attitude measurement and control," Control Engineering Practice, vol. 6, no. 9, pp. 1099-1107, 1998. https://doi.org/10.1016/S0967-0661(98)00104-X
  16. R. Kumar and T. Singh, "Design of input shapers using modal cost for multi-mode systems," Automatica, vol. 46, no. 3, pp. 598-604, 2010. https://doi.org/10.1016/j.automatica.2010.01.016
  17. C.-W. Ha, K.-H. Rew, K.-S. Kim, "Embedded input shapers in the motion profiles," Proc. of 2014 29th ICROS Annual Conference (ICROS 2014) (in Korean), pp. 342-343, Daegu, Korea, 2014.