<p>Dynamic
systems and robotic manipulators designed for time-optimal point-to-point
motion are adversely affected by residual vibrations introduced due to the
joint flexibility inherent in the system. Over the years, multiple techniques
have been employed to improve the efficiency of such systems. While some
techniques focus on increasing the system damping to efficiently dissipate the
residual energy at the end of the move, several techniques achieve rapid
repositioning by developing cleverly shaped input profiles that aim to reduce
energy around the natural frequency to avoid exciting the resonant modes
altogether. In this work, a numerical framework for constructing shaped inputs
using a Versine basis function with peak acceleration constraint has been
developed and improvements for the existing numerical framework for the Ramped
Sinusoid basis function have been made to extend the range of values of the
weighting function and improve the computational time. Performance metrics to
evaluate the effectiveness of the numerical framework in minimizing residual
vibrations have been developed. The effects of peak input acceleration and
weighting function on the residual vibration in the system have been studied.
The effectiveness of the method has been tested under multiple conditions in
simulations and the results were validated by performing experiments on a
two-link flexible joint robotic arm. The simulation and experimental results
conclusively show that the inputs developed using the constrained numerical
approach result in better residual vibration performance as compared to that of
an unshaped input. </p>
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/8044718 |
| Date | 10 June 2019 |
| Creators | Pratheek Patil (6636341) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | CC BY 4.0 |
| Relation | https://figshare.com/articles/INPUT_COMMAND_SHAPING_USING_THE_VERSINE_FUNCTION_WITH_PEAK_ACCELERATION_CONSTRAINT_AND_NUMERICAL_OPTIMIZATION_TO_MINIMIZE_RESIDUAL_VIBRATION/8044718 |
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