Hybrid input shaping control scheme for reducing vibration of robot based on multi-mode control

The classic multi-mode input shapers (MMISs) are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously. But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different. The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper. Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established. The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation. The response time of the zero vibration-zero vibration and derivative (ZV-ZVD) input shaper is the fastest, but the robustness is the least. The robustness of the zero vibration and derivative-extra insensitive (ZVD-EI) input shaper is the best, while the response time is the longest. According to the frequency bandwidth at each mode and required system response time, the most appropriate multi-mode hybrid input shaper (MMHIS) can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.