Robotic Control for Vibration Reduction of Swinging Products

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.