Robotic Control for Vibration Reduction  of Swinging Products

R.J. Kruk, van der; Arend Jan van Noorden; Tom Oomen; René van de Molengraft; Herman P.J. Bruyninckx

doi:10.1109/ICM54990.2023.10101973

Robotic Control for Vibration Reduction of Swinging Products

R.J. Kruk, van der, Arend Jan van Noorden, Tom Oomen, René van de Molengraft, Herman P.J. Bruyninckx

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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Input 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. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system.

Originele taal-2	Engels
Titel	Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
Uitgeverij	Institute of Electrical and Electronics Engineers
Aantal pagina's	8
ISBN van elektronische versie	978-1-6654-6661-5
DOI's	https://doi.org/10.1109/ICM54990.2023.10101973
Status	Gepubliceerd - 17 apr. 2023
Evenement	2023 IEEE International Conference on Mechatronics, ICM 2023 - Loughborough, Verenigd Koninkrijk Duur: 15 mrt. 2023 → 17 mrt. 2023

Congres

Congres	2023 IEEE International Conference on Mechatronics, ICM 2023
Verkorte titel	ICM 2023
Land/Regio	Verenigd Koninkrijk
Stad	Loughborough
Periode	15/03/23 → 17/03/23

Toegang tot document

10.1109/ICM54990.2023.10101973

Andere bestanden en links

Link naar publicatie in Scopus

Citeer dit

@inproceedings{8cd0b118e7ef47f6b398e166c0d011fb,

title = "Robotic Control for Vibration Reduction of Swinging Products",

abstract = "Input 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. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system. ",

keywords = "food packaging, input shaping, motion control, suction cup gripper, suspended products, trajectory generation",

author = "{Kruk, van der}, R.J. and {van Noorden}, {Arend Jan} and Tom Oomen and {van de Molengraft}, Ren{\'e} and Bruyninckx, {Herman P.J.}",

year = "2023",

month = apr,

day = "17",

doi = "10.1109/ICM54990.2023.10101973",

language = "English",

booktitle = "Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2023 IEEE International Conference on Mechatronics, ICM 2023, ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023",

}

Kruk, van der, RJ, van Noorden, AJ, Oomen, T , van de Molengraft, R & Bruyninckx, HPJ 2023, Robotic Control for Vibration Reduction of Swinging Products. in Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023., 10101973, Institute of Electrical and Electronics Engineers, 2023 IEEE International Conference on Mechatronics, ICM 2023, Loughborough, Verenigd Koninkrijk, 15/03/23. https://doi.org/10.1109/ICM54990.2023.10101973

Robotic Control for Vibration Reduction of Swinging Products. / Kruk, van der, R.J.; van Noorden, Arend Jan; Oomen, Tom et al.
Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023. Institute of Electrical and Electronics Engineers, 2023. 10101973.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

TY - GEN

T1 - Robotic Control for Vibration Reduction of Swinging Products

AU - Kruk, van der, R.J.

AU - van Noorden, Arend Jan

AU - Oomen, Tom

AU - van de Molengraft, René

AU - Bruyninckx, Herman P.J.

PY - 2023/4/17

Y1 - 2023/4/17

N2 - Input 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. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system.

AB - Input 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. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system.

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KW - motion control

KW - suction cup gripper

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Y2 - 15 March 2023 through 17 March 2023