DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Juyi | ko |
dc.contributor.author | Chang, Pyung-Hun | ko |
dc.contributor.author | Park, Hyung-Soon | ko |
dc.contributor.author | Lee, Eunjeong | ko |
dc.date.accessioned | 2009-12-08T01:37:50Z | - |
dc.date.available | 2009-12-08T01:37:50Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.11, no.1, pp.55 - 65 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10203/14352 | - |
dc.description.abstract | In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-varying nonlinear residual vibration, while conventional IST is applied to the second and third axes. Experimental results show that LIST can suppress residual vibrations to a level similar to that of a time-varying IST which requires complicated real-time estimation of a dynamic model. The LIST is an attractive method for suppression of nonlinear and time-varying residual vibrations in industrial robots which perform repetitive tasks because most industrial robots have limited computing power and memory space in their controllers. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | SYSTEMS | - |
dc.title | Design of learning input shaping technique for residual vibration suppression in an industrial robot | - |
dc.type | Article | - |
dc.identifier.wosid | 000235537100007 | - |
dc.identifier.scopusid | 2-s2.0-33244465601 | - |
dc.type.rims | ART | - |
dc.citation.volume | 11 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 55 | - |
dc.citation.endingpage | 65 | - |
dc.citation.publicationname | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.identifier.doi | 10.1109/TMECH.2005.863365 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang, Pyung-Hun | - |
dc.contributor.localauthor | Park, Hyung-Soon | - |
dc.contributor.nonIdAuthor | Park, Juyi | - |
dc.contributor.nonIdAuthor | Lee, Eunjeong | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | flexible structure | - |
dc.subject.keywordAuthor | industrial robot | - |
dc.subject.keywordAuthor | input shaping | - |
dc.subject.keywordAuthor | iterative learning algorithm | - |
dc.subject.keywordAuthor | residual vibration | - |
dc.subject.keywordPlus | SYSTEMS | - |
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