The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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An SD Shaper to Suppress Residual Vibration at an Arbitrarily Specified Duration

임의 성형시간에 잔류진동을 제거할 수 있는 SD성형기

  • Received : 2022.10.31
  • Accepted : 2022.12.26
  • Published : 2023.02.28
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Abstract

Recently, various input shapers have been introduced to reduce residual vibrations of flexible robots. However, there have been no studies on the design of an input shaper that can suppress residual vibration at an arbitrarily specified duration. In this paper, a novel input shaper called an SD (specified-duration) shaper is proposed for an undamped or underdamped system, which can suppress residual vibration at an arbitrarily given specified duration. If the specified duration is larger than a half period, a positive SD shaper composed of all positive impulses is designed, and if the specified duration is smaller than a half period, a negative SD shaper including a negative impulse is designed. As the specified duration is increased every half period after a half period, the number of impulses of the positive SD shaper is increased one by one, and the robustness of the SD shaper to modeling errors is increased. The performance of the SD shaper is analyzed through simulation studies for an undamped and underdamped second-order systems. The validity of the SD shapers is demonstrated experimentally using an experimental device that can generate container transport motions.

Keywords

Acknowledgement

이 연구를 위해 실험장치를 대여해준 하만돈교수와 강철구 교수에게 감사를 드린다.

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