文献类型：会议论文

英文题名：Residual Vibration Suppression of a Tomatoes' String Picking Robot: A Cascade Design Method

作者：Tong, Shiwen[1];Qian, Dianwei[2];Fang, Jianjun[1];Cui, Min[3]

通讯作者：Tong, SW[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China;[3]Baoshan Iron & Steel Co Ltd, Shanghai 201900, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

会议论文集：International Conference on Advanced Mechatronic Systems (ICAMechS)

会议日期：NOV 30-DEC 03, 2016

会议地点：Melbourne, AUSTRALIA

语种：英文

外文关键词：suppression of the residual vibration; input shaping; lead-lag compensator; cascade design; tomatoes' string picking robot

摘要：The suppression of the residual vibration in the tomatoes' string picking system is a very import issue. The paper has proposed a cascade design method. To control the manipulator, a lead-lag compensator is firstly designed, then followed by twice designs of input shaping processes so as to reduce the residual vibration of the tomatoes' string. Simulations verified the validity of the method. The manipulator is moved to the destination position and the residual vibration of the tomatoes' string is completely suppressed at the same time.