Vibration suppression is of fundamental importance to the performance of industrial robot manipulators. Cost constraints, however, limit the design options of servo and sensing systems. The resulting low drive-train stiffness and lack of direct load-side measurement make it difficult to reduce the vibration of the robot's end-effector and hinder the application of robot manipulators to many demanding industrial applications. This paper proposes a few ideas of iterative learning control (ILC) for vibration suppression of industrial robot manipulators. Compared to the state-of-the-art techniques such as the dual-stage ILC method and the two-part Gaussian process regression (GPR) method, the proposed method adopts a two degrees-of-freedom (2DOF) structure and gives a very lean formulation as well as improved effects. Moreover, in regards to the system variations brought by the nonlinear dynamics of robot manipulators, two robust formulations are developed and analyzed. The proposed methods are explained using simulation studies and validated using an actual industrial robot manipulator.

References

References
1.
PWC
,
2014
, “
The New Hire: How a New Generation of Robots Is Transforming Manufacturing
,” PricewaterhouseCoopers, Arlington, VA, accessed July 17, 2017, https://www.nist.gov/sites/default/files/documents/mep/data/TheNewHire.pdf
2.
Wang
,
W.-S.
, and
Liu
,
C.-H.
,
1992
, “
Controller Design and Implementation for Industrial Robots With Flexible Joints
,”
IEEE Trans. Ind. Electron.
,
39
(
5
), pp.
379
391
.
3.
Zhou
,
Q.
,
Wu
,
X.
,
Xia
,
Y.
, and
Cai
,
W.
,
2014
, “
Spot Weld Layout Optimization of Tube Crash Performance With Manufacturing Constraints
,”
ASME J. Manuf. Sci. Eng.
,
136
(
1
), p.
011014
.
4.
Tzes
,
A.
, and
Yurkovich
,
S.
,
1993
, “
An Adaptive Input Shaping Control Scheme for Vibration Suppression in Slewing Flexible Structures
,”
IEEE Trans. Control Syst. Technol.
,
1
(
2
), pp.
114
121
.
5.
Park
,
J.
,
Chang
,
P.-H.
,
Park
,
H.-S.
, and
Lee
,
E.
,
2006
, “
Design of Learning Input Shaping Technique for Residual Vibration Suppression in an Industrial Robot
,”
IEEE/ASME Trans. Mechatronics
,
11
(
1
), pp.
55
65
.
6.
Alam
,
M. S.
, and
Tokhi
,
M. O.
,
2008
, “
Designing Feedforward Command Shapers With Multi-Objective Genetic Optimisation for Vibration Control of a Single-Link Flexible Manipulator
,”
Eng. Appl. Artif. Intell.
,
21
(
2
), pp.
229
246
.
7.
Zain
,
M. M.
,
Tokhi
,
M.
,
Mohamed
,
Z.
, and
Mailah
,
M.
,
2004
, “
Hybrid Iterative Learning Control of a Flexible Manipulator
,”
23rd IASTED, International Conference Modelling, Identification and Control
, Grindelwald, Switzerland, Feb. 23–25, pp. 313–318.https://core.ac.uk/download/pdf/11777290.pdf
8.
Chen
,
W.
, and
Tomizuka
,
M.
,
2014
, “
Dual-Stage Iterative Learning Control for MIMO Mismatched System With Application to Robots With Joint Elasticity
,”
IEEE Trans. Control Syst. Technol.
,
22
(
4
), pp.
1350
1361
.
9.
Dwivedy
,
S. K.
, and
Eberhard
,
P.
,
2006
, “
Dynamic Analysis of Flexible Manipulators: A Literature Review
,”
Mech. Mach. Theory
,
41
(
7
), pp.
749
777
.
10.
Wang
,
C.
,
Wang
,
Z.
,
Peng
,
C.
,
Zhao
,
Y.
, and
Tomizuka
,
M.
,
2015
, “
Compensating Flexibility in Servo Systems Using Iterative Learning Control
,”
ASME
Paper No. DSCC2015-9659.
11.
Wang
,
C.
,
Zheng
,
M.
,
Wang
,
Z.
, and
Tomizuka
,
M.
,
2016
, “
Robust Two-Degree-of-Freedom Iterative Learning Control for Flexibility Compensation of Industrial Robot Manipulators
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Stockholm, Sweden, May 16–21, pp.
2381
2386
.
12.
Bristow
,
D.
,
Tharayil
,
M.
, and
Alleyne
,
A.
,
2006
, “
A Survey of Iterative Learning Control
,”
Control Syst.
,
26
(
3
), pp.
96
114
.
13.
Xu
,
J.-X.
, and
Tan
,
Y.
,
2003
,
Linear and Nonlinear Iterative Learning Control
, Vol.
291
,
Springer
,
Berlin
.
14.
Pastor
,
P.
,
Kalakrishnan
,
M.
,
Binney
,
J.
,
Kelly
,
J.
,
Righetti
,
L.
,
Sukhatme
,
G.
, and
Schaal
,
S.
,
2013
, “
Learning Task Error Models for Manipulation
,”
International Conference on Robotics and Automation
(
ICRA
), Karlsruhe, Germany, May 6–10, pp.
2612
2618
.
15.
Mahler
,
J.
, Krishnan, S., Laskey, M., Sen, S., Murali, A., Kehoe, B., Patil, S., Wang, J., Franklin, M., Abbeel, P., and Goldberg, K.,
2014
, “
Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression
,”
International Conference on Automation Science and Engineering
(
CASE
), Taipei, Taiwan, Aug. 18–22, pp.
532
539
.
16.
Wang
,
C.
,
Zhao
,
Y.
,
Chen
,
Y.
, and
Tomizuka
,
M.
,
2015
, “
Nonparametric Statistical Learning Control of Robot Manipulators for Trajectory or Contour Tracking
,”
Rob. Comput. Integr. Manuf.
,
35
, pp.
96
103
.
17.
Litak
,
G.
, and
Friswell
,
M. I.
,
2003
, “
Vibration in Gear Systems
,”
Chaos Solitons Fractals
,
16
(
5
), pp.
795
800
.
18.
Tomizuka
,
M.
,
1987
, “
Zero Phase Error Tracking Algorithm for Digital Control
,”
ASME J. Dyn. Syst. Meas. Control
,
109
(
1
), pp.
65
68
.
19.
Skogestad
,
S.
, and
Postlethwaite
,
I.
,
2007
,
Multivariable Feedback Control: Analysis and Design
,
2nd ed.
,
Wiley
,
New York
.
20.
Inaba
,
K.
,
Wang
,
C.-C.
,
Tomizuka
,
M.
, and
Packard
,
A.
,
2009
, “
Design of Iterative Learning Controller Based on Frequency Domain Linear Matrix Inequality
,”
American Control Conference
(
ACC
), St. Louis, MO, June 10–12, pp.
246
251
.
21.
Grant
,
M.
,
Boyd
,
S.
, and
Ye
,
Y.
,
2008
, “
CVX: Matlab Software for Disciplined Convex Programming
,” CVX Research, accessed July 17, 2017, http://cvxr.com/cvx
22.
Gahinet
,
P.
, and
Apkarian
,
P.
,
1994
, “
A Linear Matrix Inequality Approach to H-Infinity Control
,”
Int. J. Robust Nonlinear Control
,
4
(
4
), pp.
421
448
.
23.
Doyle
,
J.
,
1982
, “
Analysis of Feedback Systems With Structured Uncertainties
,”
IEE Proc. D Control Theory Appl.
,
129
(
6
), pp.
242
250
.
24.
Balas
,
G. J.
,
Doyle
,
J. C.
,
Glover
,
K.
,
Packard
,
A.
, and
Smith
,
R.
,
1993
, “
μ-Analysis and Synthesis Toolbox
,” MUSYN/The MathWorks, Inc., Minneapolis, MN/Natick, MA.
25.
Wang
,
C.
,
Chen
,
W.
, and
Tomizuka
,
M.
,
2012
, “
Robot End-Effector Sensing With Position Sensitive Detector and Inertial Sensors
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), St. Paul, MN, May 14–18, pp.
5252
5257
.
26.
Nguyen-Tuong
,
D.
,
Seeger
,
M.
, and
Peters
,
J.
,
2008
, “
Computed Torque Control With Nonparametric Regression Models
,”
American Control Conference
(
ACC
), Seattle, WA, June 11–13, pp.
212
217
.
27.
Chan
,
M. L.
,
2013
, “
Controller Synthesis and Vibration Suppression Techniques for Industrial Robotic Manipulators With Joint Flexibilities
,”
Ph.D. thesis
, University of California, Berkeley, Berkeley, CA. http://digitalassets.lib.berkeley.edu/etd/ucb/text/Chan_berkeley_0028E_13926.pdf
You do not currently have access to this content.