Swing-Free Trajectory Design

This area of research has to do with the transport of suspended objects. If the trajectory of the suspension point is cleverly designed, the suspended object will come to rest with zero residual swing.

Transport of Suspended Objects

We have done work in the areas of:

Input shaping using "traditional" Convolution (singly suspended object - one robot)
Trajectory synthesis using Dynamic Programming (singly suspended object - one robot)
Trajectory synthesis using Dynamic Programming (doubly suspended object - two robots).
Curvilinear transport of a suspended object using Dynamic Programming
Input shaping using "non-traditional" convolution with much broader range of vibration suppression. These are RBAI (Rate-limited Boxcar Aliased IFIR) motion profiles.

Videos of our work

Some videos of our swing-free work are shown below.

Transport of single object using DP trajectory (not yet available)
Transport of a long object using dual robots and a swing-free trajectory obtained using Dynamic Programming. CLICK HERE to play the movie.
Curvilinear transport of a suspended payload using a swing-free trajectory obtained using Dynamic Programming. CLICK HERE to play the movie.
Linear transport of several multi-DOF systems using a swing-free trajectory obtained using RBAI (Rate-limited Boxcar Aliased IFIR) shaping. This yields wideband frequency suppression. CLICK HERE to play the movie.