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In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-varying nonlinear residual vibration, while conventional IST is applied to the second and third axes. Experimental results show that LIST can suppress residual vibrations to a level similar to that of a time-varying IST which requires complicated real-time estimation of a dynamic model. The LIST is an attractive method for suppression of nonlinear and time-varying residual vibrations in industrial robots which perform repetitive tasks because most industrial robots have limited computing power and memory space in their controllers.
Park et al. (Wed,) studied this question.