Multi-mode input shaping for vibration suppression of over-constrained cable-driven parallel robots with cable stiffness

Yoon, Jonghyun; Hwang, Sung Wook; Bak, Jeong-Hyeon; Park, Jong Hyeon; Ko, Sung Young

doi:10.1109/ICMAE.2016.7549567

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Multi-mode input shaping for vibration suppression of over-constrained cable-driven parallel robots with cable stiffness

Yoon, Jonghyun;
Hwang, Sung Wook;
Bak, Jeong-Hyeon;
Park, Jong Hyeon;
Ko, Sung Young

Citations

SCOPUS

10

초록

Cable driven parallel robots (CDPRs) are widely used recently. To achieve accurate and fast tracking performance with CDPRs, suppressing vibration is necessary. Input shaping method that cancels vibration by redesigning input can be used, but usual input shaping method is suit to single-mode systems. Multi-mode input shaping method was suggested to make it apply to multi-mode systems. The multi-mode input shaping method is applied to vibration suppression of 2D over-constrained CDPR with cable stiffness in this paper. Performance of this method is confirmed by simulation results and compared with single-mode input shaping method.

키워드

cable driven parallel robot; cable stiffness; multi-mode input shaping; vibration suppression; Aerospace engineering; Cables; Computer control systems; Stiffness; Fast-Tracking; Input shaping method; Input-shaping; Multimode system; Over-constrained; Parallel robots; Single-mode systems; Vibration suppression; Robots

제목: Multi-mode input shaping for vibration suppression of over-constrained cable-driven parallel robots with cable stiffness

저자: Yoon, Jonghyun; Hwang, Sung Wook; Bak, Jeong-Hyeon; Park, Jong Hyeon; Ko, Sung Young

DOI: 10.1109/ICMAE.2016.7549567

발행일: 2016-08

유형: Conference Paper

저널명: Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016

페이지: 363 ~ 367