Input shaping for vibration-damped slewing of a flexible beam using a heavy-lift hydraulic robot

摘要

An input shaping scheme originally used to slew flexible beams via a tabletop D.C. motor is modified for use with an industrial-type, hydraulic-drive robot. This trajectory generation method was originally developed to produce symmetric, rest-to-rest maneuvers of flexible rotating rods where the angular velocity vector and gravitational vector were collinear. In that configuration, out-of-plane oscillations were excited due to centripetal acceleration of the rod. The bang-coast-bang acceleration profile resulted in no oscillations in either plane at the end of the symmetric slew maneuver. In this paper, a smoothed version of the bang-coast-bang acceleration is used for symmetric maneuvers where the angular velocity vector is orthogonal to the gravitational vector. Furthermore, the hydraulic robot servo dynamics are considered explicitly in determining the input joint angle trajectory. An instrumented mass is attached to the tip of a flexible aluminum rod. The first natural frequency of this system is about 1.0Hz. Joint angle responses obtained with encoder sensors are used to identify the servo actuator dynamics.