As another open-loop feedforward control, input shaping can generate a series of impulse signals to convolve the impulse and input signals, aiming at the elimination of the inherent vibration. This chapter presents the control design of input shaping, wherein the working principle and the typical input shapers are introduced. Consequently, a post adaptive input shaper is designed for the suppression of elastic deformations of flexible joints and end-effector vibrations of the parallel SCARA robot. A recursive least squares based algorithm is formed to update the shaper signals, which is able to be adaptive to the varying system parameters, in order to overcome the problems of flexible vibrations caused by the inaccurate models and varying modal parameters, and to improve the robustness of the controlled system. The numerical simulation and experimental implementation verifies the effectiveness of the designed input shaper.


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    Titel :

    Input Shaping Control


    Beteiligte:
    Wu, Guanglei (Autor:in)

    Erschienen in:

    Parallel PnP Robots ; Kapitel : 8 ; 147-170


    Erscheinungsdatum :

    25.03.2025


    Format / Umfang :

    24 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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