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An adaptive input shaping algorithm for vibration control of the fruits picking robot was proposed in the situation of flexible load unknown. The angular velocity of manipulator's link was taken advantage to design feed forward impulse preshaping input online. The impulse time and amplitude were calculated through the input and output of the system. Preshaping command would lose its vibration suppressing...
Impact protection and vibration isolation are an important component of the mobile robot designer's toolkit; however, current damping materials are available only in bulk or molded form, requiring manual fabrication steps and restricting material property control. In this paper we demonstrate a new method for 3D printing viscoelastic materials with specified material properties. This method allows...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate an approximated model of a two flexible-link robot for control purposes, which includes rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and deformation). The model is obtained...
Input shaping is a technique that reduces residual vibration by generating a self-canceling command signal. This technique is developed by N.C. Singer and W.P. Seering for flexible structures, and applied especially in aerospace field and robotics. Traditionally, input shaper has contained only positive impulses. However, negative valued impulses allow to decrease the shaper length. In previous works,...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a single-link flexible robot, which includes rotational actuator, piezoelectric actuators, different kind of sensors, acceleration and deformation. The model is obtained under a classical mechanics approach: Lagrange...
The dynamics research of folded-deployable suspension of a new planetary exploration robot is carried out. The first three-order natural frequency and vibration mode of planetary robot in folded and deployable states are obtained respectively by finite element simulation analysis; the robot's natural frequencies in folded and deployable states are achieved respectively through vertical and horizontal...
The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a...
Speed up movement to increase productivity may cause problems such as vibration. This paper proposes a vibration suppression tool with visual graphical interface to solve the vibration problem based on input shaping approach. The proposed tool was then applied in real industry processes to solve the vibration problems of semiconductor wafer transfer robot and gantry loader in high speed operation...
Autonomous target capturing is the key for space robot to perform on-orbital servicing tasks. To meet the requirement of complex and long-term task, large flexible appendages, such as solar paddles and antenna reflectors are usually mounted on the base of a space robot. Due to the structure vibration, it is very challenging to capture a free-floating target satellite. In this paper, we derived the...
This paper presents a solution to the residual vibration of 3-DOF Delta parallel robots. As the parallel mechanism is highly nonlinear, inverse dynamics analysis in explicit form by using Lagrangian formulation is proposed to linearize the system. To apply the Lagrangian method to the parallel mechanism, the structure is divided to sub-chains by imaginary open tree method. After deriving inverse dynamics...
This paper presents flexible two-link ROBOT arm control methodology using fuzzy logic controller with state-estimation arrangement. In order to drive the fast and slow subsystems, a singular perturbation scheme has been established, that also reduces spillover effect. The estimation based compensator damps out the noise/ vibration of the complex nonlinear system. Setpoint tracking is achieved by employing...
Nowadays, automation system using robot is very important to increase productivity in mass production system. Especially, solar cell manufacturing line is composed of many types of robots such as cassette robot and several glass handling robots for high productivity. Because solar cell substrate is three to five times heavier than LCD glass substrate, handling a heavy substrate is the main issue in...
A beam type solar cell substrate transport robot is under development to meet the high demand to increase the productivity of solar cell. In order to reduce the tact time and increase the productivity, the accurate position control with vibration rejection technique becomes more important as the size of solar cell substrate becomes larger. This paper is focusing on the beam type substrate handling...
An active vibration control approach of high-speed flexible robot with piezoelectric patch and strain gauges is presented by using discrete variable structure control with equivalent law. The experimental modal test method and modal truncation technique is applied to obtain the dynamic model of the system. The error state equations are obtained according to state equation and control requirements...
Dynamics of a fin type propulsive device of robotic fish moving inside water is studied. On the basis of Pontryagin's maximum principle the optimal control law for variation of additional area of vibrating tail, which ensures maximal positive impulse of motive forces acting on tail, is found. The proposed method makes it possible to minimize energy losses within operation cycles, when fin's motion...
In this paper, we analytically investigate the dynamic modeling of a nonlinear microrobot based on the “friction drive principle”. The superposition of a horizontal vibration at the interface between the robot and work floor and an active variation of friction force, obtained by the vertical vibration of the base, makes the robot to move on the substrate. Periodic solutions obtained from the harmonic...
This is a study of a disturbance observer design that minimizes vibration and misaim that occurs when firing at a moving object from a gun installed on a robot which is attached to a vehicle. We effectively reduce 15Hz/sec vibrations and examine a control system required in high speed and high precision tracking. The firearm robot was modeled using the multi-object dynamic software, ADAMS. The deduced...
The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation conditions, allowing, in a future work, the conception of robust control laws.
The logging harvester is made up of a walking mechanism, a mechanical arm, a felling head and a driving control system, which can do the works of felling, limbing, measuring and bucking. Because the ground surface of the forest land is very rough, the vibration should be studied when it is going in the forest land in order to prevent the harmful effects to the machine and driver. In this paper, the...
This paper presents the control design and interface implementation of a spherical pendulum system for control education demonstration. The Zero Vibration input shaper is implemented in the robot controller to minimize command induced cable swing. To maximize user perception, the interface is developed on a LabVIEW environment within a standard PC which is interface to the robot controller by a T1...
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