文献类型：会议论文

英文题名：Vibration Reduction of Flexible Fruit Picking Robot by Adaptive Input Shaping Method

作者：Liu, Dexin[1];Fang, Jianjun[1]

通讯作者：Fang, JJ[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing, 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, 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：Picking robot; flexible load; adaptive input shaping; vibration reduction

摘要：An adaptive input shaping algorithm for vibration control of the fruits picking robot was proposed in the situation of flexible load unknown. The angular velocity of manipulator's link was taken advantage to design feed forward impulse preshaping input online. The impulse time and amplitude were calculated through the input and output of the system. Preshaping command would lose its vibration suppressing function when the system frequency changed during manipulator's load varied. Then the vibration of manipulator's tip was suppressed by adaptive shaping input command designed according to preshaping command. Meanwhile, the feasibility of the algorithm was proved through theoretical analysis, and the the robust performance with frequency mismatch was analyzed in detail. Simulations were carried out finally. Results show the algorithm for flexible manipulator can solve load-varying vibration control problem and has qualified tip vibration suppressing and angular input. tracking ability.