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1 Speaker : Wan-Tsz Lin Advisor : K-S Chen Date : 2007.3.27 National Cheng Kung University Mechanical Engineering

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2 Outline Introduction and review of input shaping The application of input shaping and paper review Suppression of Residue Vibration for a Two-Degree of Freedom System During Long Range Motion Using Command Shaping Methods Conclusion

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3 Part 1 : Introduction and review of input shaping

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4 Introduction of input shaping (1) : :

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5 ZV & ZVD shaper Zero Vibration (ZV) Zero Vibration and Derivative (ZVD)

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6 Sensitivity curve ZV rising time ZVD ZV a : m :

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7 Applications -- : ( 1) -- : ( 2) -- : ( 3) 11 22 33

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8 Input shaping progress & history

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9 Part 2 : Review of the application of input shaping

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10 : A single-link flexible manipulator Jinjun Shan et al., Journal of Sound and Vibration 285 (2005) 187-207

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11 Experimental result Without shaping (a)Attitude angle motion (b)Tip deflection curve With ZV shaper (a)Attitude angle motion (b)Tip deflection curve Desired angle Actual angle

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12 W. E. Singhose et al., IEEE transactions on robotics and automation VOL. 12,No. 6, (1996) 881-887. Steel beam with flexibility parallel to the x direction Steel beam with flexibility parallel to the y direction A flexible structure with orthogonal decoupled modes A compressed air paint brush The system had uncoupled modes at 4.5 and 6.2 Hz

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13 Experimental result Unshaped response to circular trajectory Unshaped response to square trajectory shaped response to circular trajectory shaped response to square trajectory

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14 W. E. Singhose et al., proceeding of the 1998 IEEE, international conference on control application.

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15 Experimental result (1) When the trolley is moved approximately 5 ft, using the standard on/off commands, the payload mass was 140kg, the hook mass was 300kg, and the rigging length L2 was 2.5m. Endpoint response using standard control the residual vibration amplitude of simulation was 26.5 in, and of experiment was 28.5 in.

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16 Experimental result (2) Endpoint response using non- robust two-mode shaper the residual vibration is eliminated completely from the end point response if the model is perfect. Endpoint response while input shaping for the low mode Residual oscillation Simulation: 2.75in; experiment: 3.75in

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17 Part 3 : Suppression of Residue Vibration for a Two-Degree of Freedom System During Long Range Motion Using Command Shaping Methods

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18 Research progress gantry crane, wafer stepper

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19 : damping ratio damping ratio

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20 The application on single pendulum : M1 = 0.28448 kg M2 = 0.2575 kg L1 = 0.262 m L2 = 0.125 m f1 = 0.8496Hz f2 = 2.35Hz &

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21 Experiment setup Laser sensor

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22 No shaping at Vmax = 1.8 cm/s Simulation Overshoot / undershoot : ~4mm Motor input command (acceleration ) Absolutely displacement

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23 The design of input shaping 2-pulse ZV 3-pulse ZV B T/2

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24 ZVD 2x3 MIS ZVD

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25 2-pulse ZV at Vmax = 1.8 cm/s Simulation Experiment Overshoot/undershoot reduced 50%

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26 3-pulse ZV at Vmax = 1.8 cm/s Simulation Experiment Overshoot/undershoot reduced 33 %

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27 ZVD at Vmax = 1.8 cm/s Simulation Experiment Overshoot/undershoot reduced 25%

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28 2x3 MIS ZVD at Vmax = 1.8 cm/s Simulation Experiment Overshoot/undershoot reduced 20%

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29 Conclusion overshoot/ undershoot -- 2-pulse ZV overshoot/ undershoot -- 2x3 MIS ZVD overshoot/undershoot -- ZVD 2x3 MIS ZVD

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30 Conclusion

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31 Future work Time- performance optimal Shaping/control integration

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32 Thanks for your attention