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Proceedings Paper

Optimal input shaper design and application to high-speed robotic workcells
Author(s): Timothy N. Chang; Kedar Godbole; Edwin Sui Hoi Hou
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Paper Abstract

This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration, zero vibration and derivative, and extra insensitive are applied to conduct cycle time testing on a two-axis adept technology robotic workcell. The performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Paper Details

Date Published: 17 December 1998
PDF: 12 pages
Proc. SPIE 3518, Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics, (17 December 1998); doi: 10.1117/12.332804
Show Author Affiliations
Timothy N. Chang, New Jersey Institute of Technology (United States)
Kedar Godbole, New Jersey Institute of Technology (United States)
Edwin Sui Hoi Hou, New Jersey Institute of Technology (United States)


Published in SPIE Proceedings Vol. 3518:
Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics
Patrick F. Muir; Peter E. Orban; Patrick F. Muir, Editor(s)

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