Preshaping command inputs to reduce telerobotic system oscillations

The results of using a new technique for shaping inputs to a model of the space shuttle Remote Manipulator System (RMS) are presented. The shapes inputs move the system to the same location that was originally commanded, however, the oscillations of the machine are considerably reduced. An overview of the new shaping method is presented. A description of RMS model is provided. The problem of slow joint servo rates on the RMS is accommodated with an extension of the shaping method. The results and sample data are also presented for both joint and three-dimensional cartesian motions. The results demonstrate that the new shaping method performs well on large, telerobotic systems which exhibit significant structural vibration. The new method is shown to also result in considerable energy savings during operations of the RMS manipulator

Model Reference Input Shaping Using Quantitative Feedforward-Feedback Controller

Input shaping convolutes the reference signal with a sequence of impulses, whose amplitudes and timings are designed to produce a shaped reference that avoids exciting lightly-damped modes to reduce residual vibration from a quick movement. The input shaper can be made robust to uncertain mode parameters by adding more impulses, which delays the reference signal, resulting in longer move time. Instead of using more impulses, in this paper, a feedforward-feedback control system, based on the quantitative feedback theory, is placed in the loop to match the closed-loop system, with uncertain plant, to a known reference model. The feedforward-feedback system handles the uncertainty, so the input shaper, placed outside the loop, needs not be robust. The closed-loop system emphasizes on selected frequencies and reduces the cost of feedback. It is shown that the proposed feedforward-feedback system is less conservative than the pure-feedback system. Other sources of vibration such as external disturbances and noise can be handled by the feedforward-feedback system as well. Simulation shows that the proposed technique can withstand large plant uncertainty with fast move time when compared to traditional robust input shaper

Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads

Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs) and computer controlled would move into its operative space, without command induced unwanted dynamics, has been exhaustively demonstrated. This work examines the issue of Embedded Internet of Things (IoT) Input Shaping with regard to real time control of multibody oscillatory systems whose dynamics are better described by differential algebraic equations (DAEs). An overhead crane hanging a double link multibody payload has been appointed as a benchmark case; it is a multibody, multimode system. This might be worst scenario to implement Input Shaping. The reasons can be found in the wide array of constraints that arise. Firstly, the reliability of the multibody model was tested on a Functional Mock-Up Interface (FMI) with the two link payload suspended from the trolley by comparing the experimental video tapping signals in time domain faced with the signals extracted from the multibody model. The FFTs of the simulated and the experimental signal contain the same frequency harmonics only with somewhat different power due to the real world light damping in the joints. The application of this approach may be extended to other cases i.e., the usefulness of mobile hydraulic cranes is limited because the payload is supported by an overhead cable under tension that allows oscillation to occur during crane motion. If the payload size is not negligible small when compared with the cable length may introduce an additional oscillatory mode that creates a multibody double pendulum. To give the insight into the double pendulum dynamics by Lagrangian methods two slender rods as payloads are analyzed dealing with the overhead crane and a composite revolute-revolute joint is proposed to model the cable of the hydraulic crane, both assumptions facilitates an affordable analysis.This research was funded by Ministerio de Ciencia e Innovación and FEDER Funds. Research project MAQ-STATUS-2016

Method and apparatus for creating time-optimal commands for linear systems

A system for and method of determining an input command profile for substantially any dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state. The present invention involves identifying characteristics of the dynamic system, selecting a command profile which defines an input to the dynamic system based on the identified characteristics, wherein the command profile comprises one or more pulses which rise and fall at switch times, imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. The characteristics may be related to poles and zeros of the dynamic system, and the plurality of constraints may include a dynamics cancellation constraint which specifies that the input moves the dynamic system from a first state to a second state such that the dynamic system remains substantially at the second state

Minimizing structural vibrations with Input Shaping (TM)

A new method for commanding machines to move with increased dynamic performance was developed. This method is an enhanced version of input shaping, a patented vibration suppression algorithm. This technique intercepts a command input to a system command that moves the mechanical system with increased performance and reduced residual vibration. This document describes many advanced methods for generating highly optimized shaping sequences which are tuned to particular systems. The shaping sequence is important because it determines the trade off between move/settle time of the system and the insensitivity of the input shaping algorithm to variations or uncertainties in the machine which can be controlled. For example, a system with a 5 Hz resonance that takes 1 second to settle can be improved to settle instantaneously using a 0.2 shaping sequence (thus improving settle time by a factor of 5). This system could vary by plus or minus 15% in its natural frequency and still have no apparent vibration. However, the same system shaped with a 0.3 second shaping sequence could tolerate plus or minus 40% or more variation in natural frequency. This document describes how to generate sequences that maximize performance, sequences that maximize insensitivity, and sequences that trade off between the two. Several software tools are documented and included

Manipulation strategies for massive space payloads

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed

Performance enhancement of linear robotic workcell using DSP based control

Robotic Controllers have for the major part been computer implementations of PID or similar controllers. In this thesis DSP based control of a Robotic Workcell is presented. The control algorithms used with the DSP based controller are Input Shaping and also State Feedback. Input Shaping is a Feed Forward strategy for eliminating vibration under certain conditions. In this thesis Input Shaping is applied to the performance enhancement of a linear robot system. Although feedback control strategies offer higher accuracy and are much more robust, feedforward strategies offer possibilities for improving the response time. Input Shaping is successfully applied to the robot system. In particular the Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), Extra Insensitive (El), and Optimal shapers are examined. The performance of these shapers is examined, with the system parameters subject to change. The performance of the Shapers is compared to a State Controller, for small steps. Since the command shaping is dependent on the measurement of the system damping (ζ) and the natural frequency (ωn) , performance degradation is observed if these parameters change significantly. By suitable design, this degradation can be restricted, so that useful performance is obtained from the system

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Input shaping technique can be used to suppress residual vibration, occurring from moving rapidly a flexible system from one point to another point. An input shaping filter produces a shaped input signal that avoids exciting the flexible modes of the flexible system. The technique requires accurate knowledge of mode parameters. When the plant model is not accurate, performance of the input shaper degrades. Several robust input shapers were proposed to handle this inaccuracy at the expense of longer move time. The purpose of this paper is, for the first time, to present an application of an intelligent backstepping system to matching of the resulting closed-loop system with a reference model. The input shaper can then be designed from the mode parameters of the reference model. Because the reference model is accurate even when the plant model is not, the input shaper needs not be robust, resulting in shorter move time. The intelligent backstepping system consists of a three-layer neural network, a variable structure controller, and a backstepping controller. The neural network is used as a black-box model in case when the plant model is unknown, making the proposed system model-independent. The adaptive property of the neural network also makes the proposed system suitable for nonlinear, time-varying, or configuration-dependent systems. The variable structure controller handles the uncertainty arisen in the system. The backstepping controller, through its virtual controls, provides a means for the control authority to reach the unmatched uncertainty in the system. This study contains simulation and experimental results on a flexible-joint robot manipulator. The results showed that this proposed intelligent input shaping system outperformed previously proposed robust input shapers in terms of allowable uncertainty amount and move time. The proposed system is also relatively easy to apply because it does not require the plant model

Vibration control on linear robots with digital servocompensator

Control application for active damping of structural vibrations and acoustic noise in mechanical systems is one of the engineering fields that can benefit from advances made in digital signal processors. This thesis project is one such application. It is about a vibration control at the loading point of a high speed linear robotic workcell. A lead zirconate titanate piezoelectric ceramic is used as the actuator and an accelerometer provides the sensing. From experimentally measured frequency response of this system, a shaping filter is designed and added on. The reshaped system is fitted with a third order transfer function design model. And based on this model, a discrete-time control scheme designated “servocompensator” is designed and implemented on a Digital Signal Processing board to control structural vibrations on the robotic workcell. Servocompensator is a control scheme based on the principle of Internal Model Design. The results have demonstrated the servocompensator as a powerful scheme for controlling independently the individual modes within the spectrum of a given vibration signal. In a typical result, as much as 40 dB of attenuation is produced on the targeted mode, where 0 dB is equal to 1 g of acceleration in this application. Furthermore, with the multi-tasking capability of the digital hardware, multiple mode control is demonstrated by multiplexing a number of single-mode servocompensators