Jonghyun Yoon, Sung Wook Hwang, J. Bak, J. Park, Sung Young Ko
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引用次数: 6
Abstract
Cable driven parallel robots (CDPRs) are widely used recently. To achieve accurate and fast tracking performance with CDPRs, suppressing vibration is necessary. Input shaping method that cancels vibration by redesigning input can be used, but usual input shaping method is suit to single-mode systems. Multi-mode input shaping method was suggested to make it apply to multi-mode systems. The multi-mode input shaping method is applied to vibration suppression of 2D over-constrained CDPR with cable stiffness in this paper. Performance of this method is confirmed by simulation results and compared with single-mode input shaping method.
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