An impulse-time perturbation approach for enhancing the robustness of extra-insensitive input shapers |
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Authors: | Keun-Ho Rew Chang-Wan Ha Kyung-Soo Kim |
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Affiliation: | 1. Robot-Automation Div., Department of Mechanical Engineering, Hoseo University, Asan-si, Chungnam 336-795, Republic of Korea;2. Department of Mechanical Engineering, KAIST, 291 Daehak-no, Yuseong-gu, Daejeon 305-701, Republic of Korea |
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Abstract: | In this paper, perturbation-based extra-insensitive input shapers (PEI-ISs) are proposed to enhance the robustness of the input shaping technique. The extra-insensitive input shaper (EI-IS) has been known to be more robust than the so-called derivative input shapers such as ZVD, ZVDD, and ZVDDD shapers. However, the robustness of the known EI-IS is restricted by the symmetric property in the sensitivity curve. To address this, the PEI-IS is devised by multiplying a series of input shapers in the Laplace domain, of which the impulse times are slightly perturbed from those of the zero vibration (ZV) shaper. For a single-hump case, a closed-form solution to the PEI-IS is provided. For two- and three-hump cases, the approximate solutions are presented. The robustness is evaluated by simulations and assessed by means of the insensitivity. It will be shown that the proposed PEI-IS does improve the robustness and that it can be easily designed. |
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Keywords: | Motion control Input shaping technique Command shaping Robust input shaper |
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