Optimal input shaper design and application to high-speed robotic workcells

Timothy N. Chang; Kedar Godbole; Edwin Sui Hoi Hou

doi:10.1117/12.332804

17 December 1998 Optimal input shaper design and application to high-speed robotic workcells

Timothy N. Chang, Kedar Godbole, Edwin Sui Hoi Hou

Proceedings Volume 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics; (1998) https://doi.org/10.1117/12.332804
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration, zero vibration and derivative, and extra insensitive are applied to conduct cycle time testing on a two-axis adept technology robotic workcell. The performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Citation Download Citation

Timothy N. Chang, Kedar Godbole, and Edwin Sui Hoi Hou "Optimal input shaper design and application to high-speed robotic workcells", Proc. SPIE 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, (17 December 1998); https://doi.org/10.1117/12.332804

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