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로봇학회논문지
(The Journal of Korea Robotics Society)
제4권 제3호 (2009.08)
pp.250-256
pp.250-256
한국로봇학회
(Korea Robotics Society)
초록
Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.
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