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A Basis Function Method for Controlling Payload Vibration Using Command Shaping Control of a Multiple Axis Robot Maneuver


 Several manufacturing assembly operations exist which require the robotic repositioning of flexible payloads. One example is aligning body panels during automobile assembly. These operations can limit throughput due to the need for relatively slow trajectories that don’t excite payload vibration. Several methods exist for generating residual vibration-free trajectories for single axis maneuver of flexible payloads, but there currently is not a general method for multiple axis maneuvers with nonlinear combinations of the inputs driving system vibration. In this paper a trajectory generation method is developed minimizing the energy transferred to the payload at resonant frequencies. Simulation and experimental results are presented demonstrating the approach.