구조적으로 유연하고 긴 로봇 매니퓰레이터의 제어를 위한 입력 Shaping 필터링 방법

Abstract

Due to high payload capacity and high length-to -cross-section ratio requirements, long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operations, various types of input shaping filtering methods have been investigated. A robust notch filtering method and an impulse shaping filtering method were investigated and implemented. In addition, two very different approaches have been developed and compared. One new approach, referred to as a "feed-forward simulation filter," uses imbedded simulation with complete knowledge of the system dynamics. The other approach, "fuzzy shaping methods," employs a fuzzy logic method to modify the joing trajectory from the desired end-position trajectory without precise knowledge of the system dynamics.