Experimental Implementation of Time-Varying Input Shaping on UR Robots

TY - GEN

T1 - Experimental Implementation of Time-Varying Input Shaping on UR Robots

AU - Thomsen, Dan Kielsholm

AU - Søe-Knudsen, Rune

AU - Brandt, David

AU - Zhang, Xuping

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Configuration dependency

KW - Fractional delay finite impulse response

KW - Industrial robots

KW - Input shaping

KW - Time-varying input shaping

U2 - 10.5220/0007834504880498

DO - 10.5220/0007834504880498

M3 - Article in proceedings

SN - 978-989-758-380-3

VL - 1

SP - 488

EP - 498

BT - ICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics

A2 - Gusikhin, Oleg

A2 - Madani, Kurosh

A2 - Zaytoon, Janan

PB - SCITEPRESS Digital Library

T2 - 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

Y2 - 29 July 2019 through 31 July 2019

ER -