Abstract
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.
| Original language | English |
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| Title of host publication | 2025 IEEE 8th International Conference on Soft Robotics, RoboSoft 2025 |
| Publisher | IEEE Institute of Electrical and Electronic Engineers |
| ISBN (Electronic) | 9798331520205 |
| DOIs | |
| Publication status | Published - 2025 |
| MoE publication type | A4 Article in a conference publication |
| Event | 8th IEEE International Conference on Soft Robotics, RoboSoft 2025 - Lausanne, Switzerland Duration: 22 Apr 2025 → 26 Apr 2025 |
Conference
| Conference | 8th IEEE International Conference on Soft Robotics, RoboSoft 2025 |
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| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 22/04/25 → 26/04/25 |
Funding
Part of the work has been carried out within the framework of the EUROfusion Consortium, funded by the European Union via the Euratom Research and Training Programme (Grant Agreement No 101052200 EUROfusion).
Keywords
- input shaping
- soft robot control
- vibration suppression