用数据驱动方法自适应调整输入整形参数，有效抑制柔性机械臂残余振动。
Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm
- 通过插值已有振动数据，动态优化输入整形参数。
- 在多材料3D打印机械臂上实现显著的残余振动降低。
- 无需精确建模，适合实际工程中快速部署。
本文提出一种简单有效的数据驱动方法，用于调节柔性机械臂输入整形器的参数以抑制残余振动。参数在机器人工作空间内通过插值先前测量的振动数据进行自适应调整。输入整形是一种简单稳健的技术，通过将脉冲序列与期望输入命令卷积，生成减少振动的指令。产生的脉冲在材料中激发波，抵消系统的固有振动。该方法在采用多种不同材料的3D打印柔性机械臂上得到验证，实现了显著的残余振动抑制效果。
原文摘要 · Abstract (English)
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.
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