Trajectory Control of Robot with Model Reference Zero Vibration Shaper

In this work, the model reference zero vibration (MRZV) control design is introduced to improve performance of robotic manipulators. MRZV consists of a ZV (zero vibration) shaper as the feedforward control while utilizing model reference feedback to improve robustness and performance under plant parameter variations. Performance analysis of the MRZV control is given in terms of residual vibration and it is shown that MRZV can tolerate significantly larger plant variations while maintaining the performance characteristics compared to standard shaper designs, such as ZV and ZVD (zero vibration and derivative). Experimental verifications are carried out on an Adept technology Cartesian robot and the results confirm the effectiveness of the proposed method