Hybrid input shaping control scheme for reducing vibration of robot based on multi-mode control

• Published in: Journal of Central South University Vol. 26; no. 6; pp. 1649 - 1660
• Main Authors: Wei, Yu-lan, Li, Bing, Ou, Peng-fei, Zhang, Qing-zhu
• Format: Journal Article
• Language: English
• Published: Changsha Central South University 01.06.2019; Springer Nature B.V
• Subjects: Computer simulation; Engineering; Impulses; Input shaping; Metallic Materials; Multimode control; Response time; Response time (computers); Robot arms; Robot control; Robustness (mathematics); Sensitivity analysis; Shapers; Vibration analysis; Vibration control; multi-mode; robot; hybrid control; input shaping; 多模态; 输入整形; 抑振; 机器人; 混合控制; vibration suppression
• ISSN: 2095-2899; 2227-5223
• DOI: 10.1007/s11771-019-4119-2

The classic multi-mode input shapers (MMISs) are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously. But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different. The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper. Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established. The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation. The response time of the zero vibration-zero vibration and derivative (ZV-ZVD) input shaper is the fastest, but the robustness is the least. The robustness of the zero vibration and derivative-extra insensitive (ZVD-EI) input shaper is the best, while the response time is the longest. According to the frequency bandwidth at each mode and required system response time, the most appropriate multi-mode hybrid input shaper (MMHIS) can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.