Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm

TL;DR

This paper introduces a data-driven, adaptive input shaping method for reducing residual vibrations in flexible robot arms, demonstrated on a 3D-printed robot with multiple materials, leading to significant vibration suppression.

Contribution

It proposes a novel data-driven approach for adaptively tuning input shaper parameters in the workspace of flexible robots, improving vibration suppression effectiveness.

Findings

Effective vibration reduction demonstrated on a 3D-printed robot arm

Adaptive parameter tuning improves vibration suppression

Method applicable to different materials and configurations

Abstract

This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of the robot by interpolating previously measured data of the robot's residual vibrations. Input shaping is a simple and robust technique to generate vibration-reduced shaped commands by a convolution of an impulse sequence with the desired input command. The generated impulses create waves in the material countering the natural vibrations of the system. The method is demonstrated with a flexible 3D-printed robot arm with multiple different materials, achieving a significant reduction in the residual vibrations.