• 대한기계학회논문집A
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• 제25권7호
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• pp.1097-1106
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• 2001

A telescopic handless is a kind of construction machinery for loading, carrying and unloading various cargos. A residual vibration of the boom, however, is often caused in carrying cargos to high workplace, especially in small motion and unloading operations, even when an expert of this machine handless the boom. To solve this vibrational problem, we applied TDC and newly proposed Commandless IST to the telescopic handler, and confirmed their effectiveness through experiments. These promising results show that the proposed control schemes can improve productivity, safety and ride comfort of the telescopic handler.

• 대한기계학회논문집
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• 제18권11호
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• pp.3066-3074
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• 1994

This paper addresses the residual vibration problem of robots due to joint flexibility excited by fast accelerations, which has not been easily solved with conventional closed loop controllers. In this paper, an open loop input shaping technique, proposed by singer, has been applied to a 3 DOF robot with joint flexibility. In conjunction to the technique, a closed loop controller based on time-delay controller was also used. The results of simulations and experiments showed that the technique is quite effective for suppressing the residual vibration.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1045-1052
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• 2000

In this paper, we propose a method to apply the Input Shaping Technique (IST) to multi-input multi-output (MIMO) systems. In MIMO systems, there is a high possibility of multi-mode residual vibration. The IST filter designed for this multi mode may need a longer time to suppress the residual vibration. Previous works prove that we can shorten the time lag by using negative sequence. This negative sequence, however, causes another problem - it requires excessive control input. In this paper, we provide a remedy to reduce the size of control input by limiting the reference input by limiting the reference input and its derivative. The result of simulations and experiments on a 2 link flexible arm confirmed the effectiveness of the proposed method.