Experimental Implementation of Time-varying Input Shaping on UR Robots

Dan Kielsholm Thomsen, Rune Søe-Knudsen, David Brandt, Xuping Zhang

Abstract

Lightweight design leads to the unwanted vibration of industrial robot manipulators. Input Shaping (IS) has been proven to be an effective vibration suppression method. However, applying IS to suppress the vibration of industrial robots faces a challenging problem: time-varying dynamics. To address the time-varying dynamics of robot manipulators, this paper presents a novel and practical solution to vibration suppression based on Time-Varying Input Shaping Technology (TVIST). Our focus in this paper is to develop a practical implementation strategy that can be applied in discrete time. A Fractional Delay Finite Impulse Response filter is employed to design and implement TVIST. This solution makes TVIST more useful in practice because it can be combined with online and discrete-time trajectory generation. It can also be implemented in combination with position control using feed-forward velocity and torque. The performance of the new approach is validated through experimental implementation on a lightweight robot from Universal Robots A/S. Experimental results are analyzed to demonstrate significant vibration suppression and increased productivity of the robot with the proposed solution. The proposed method can be extended to the vibration suppression of other types of industrial robotic manipulators with serial links as well as other time-varying dynamic systems.

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Paper Citation


in Harvard Style

Thomsen D., Søe-Knudsen R., Brandt D. and Zhang X. (2019). Experimental Implementation of Time-varying Input Shaping on UR Robots.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 488-498. DOI: 10.5220/0007834504880498


in Bibtex Style

@conference{icinco19,
author={Dan Kielsholm Thomsen and Rune Søe-Knudsen and David Brandt and Xuping Zhang},
title={Experimental Implementation of Time-varying Input Shaping on UR Robots},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={488-498},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007834504880498},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Experimental Implementation of Time-varying Input Shaping on UR Robots
SN - 978-989-758-380-3
AU - Thomsen D.
AU - Søe-Knudsen R.
AU - Brandt D.
AU - Zhang X.
PY - 2019
SP - 488
EP - 498
DO - 10.5220/0007834504880498