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 resp...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.展开更多
基金Project(LQ12E05008)supported by Natural Science Foundation of Zhejiang Province,ChinaProject(201708330107)supported by China Scholarship Council
文摘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.
