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17 December 1998 Optimal input shaper design and application to high-speed robotic workcells
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Abstract
This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration, zero vibration and derivative, and extra insensitive are applied to conduct cycle time testing on a two-axis adept technology robotic workcell. The performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Timothy N. Chang, Kedar Godbole, and Edwin Sui Hoi Hou "Optimal input shaper design and application to high-speed robotic workcells", Proc. SPIE 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, (17 December 1998); https://doi.org/10.1117/12.332804
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