Download PDFOpen PDF in browserRobotic Control for Vibration Reduction of Swinging ProductsEasyChair Preprint 95669 pages•Date: January 11, 2023AbstractInput shaping can effectively reduce residual vibrations of flexible systems induced by the reference signal. For the control of cranes, the usefulness of input shaping is well known and implemented. For fast robotic pick and placement of swinging products input shaping provides significant reduction of the overshoot, without settling time loss, when the move time equals more than 60 percent and less than 80 percent of the natural vibration time. The classic zero vibration input shaper (ZV) provides best overall performance. When this shaper is combined with bandwidth matching of the joint servo controllers to the vibration frequency of the suspended product, comparable performance is obtained while providing a smoother acceleration of the object to reduce peel-off. An experimental validation on a delta robot system, confirms the performance improvement obtained by an input shaper for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper. Keyphrases: food packaging, input shaping, motion control, swinging products, trajectory generation
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