Adaptive Input Shaper Design for Flexible Robot Manipulators

Details

11:15 - 11:30 | Mon 25 Sep | Room 207 | MoAT11.4

Session: Flexible Robots

Abstract

Input shaping techniques for vibration control of flexible structures received many interest due to its simplicity and efficiency proven in various practical cases. This paper proposes an adaptation of those techniques by addressing two main specificities of robot manipulators. As a first contribution, the design of input shapers for multiple-input and multiple-modes complex robots is studied. Design indicators based on elastic-dynamic model are proposed in order to choose one input shaper design among thousands of possible combinations. As a second contribution, the structural mode frequency evolution of robot manipulators over their workspace is compensated by an adaptive control scheme. It is proposed to interpolate the modal variations over the workspace and tune the input shaper parameters dynamically. This work is illustrated with promising experimental results on a large scale, high-dynamic robot arm with both links and joints flexibility. The results validate the relevancy of the developed input shaper design approach and highlights the efficiency of these techniques implemented on robot manipulators. It also presents significant improvements obtained with the adaptive scheme.