BEGIN:VCALENDAR PRODID:-//eluceo/ical//2.0/EN VERSION:2.0 CALSCALE:GREGORIAN BEGIN:VEVENT UID:8fd4724118aa0aeb8d5c5574139b6bf4 DTSTAMP:20260614T224703Z SUMMARY:Real-time vibration suppression in robotic end effectors DESCRIPTION:Contact: yiannis.karayiannidis@control.lth.se\n\nTitle: \; Real-time vibration suppression in robotic end effectorsAuthor: \;Jaco b Heyden &\; Georg EmmanouilidisDate &\; Time: \;June 4th\, 13:1 5–14:00Location: \;Seminar Room M 3170-73 in the M-building\, LTHSup ervisor: Yiannis Karayiannidis\, \;Jon Davidsson (Beckhoff Automation AB) \;&\; Daniel Jovanovski \;(Beckhoff Automation AB)Examiner:  \; Björn OlofssonOpponents: \;Dante NeckmarAbstract:Industrial r obotic manipulators are widely used in manufacturing for high-speed pick-a nd-place operations. Therefore\, there is value in optimizing the trajecto ry execution speed and positional accuracy to reduce cycle times. However\ , pushing these acceleration limits often induces structural residual vibr ations at the end-effector\, which degrade process quality and necessitate long settling times. Traditional methods to mitigate this\, such as mathe matical plant inversion\, may lead to stability issues due to unmodeled ph ysical constraints and shifting payload inertia. This thesis evaluates the performance of a control architecture that integrates real-time system id entification with feed-forward input shaping to actively suppress end-effe ctor vibrations. The evaluated control architecture utilizes real-time Fas t Fourier Transform (FFT) frequency identification\, coupled with ZV\, ZVD \, and ZVDD shapers. The results show that it is possible to successfully suppress vibrations without relying on full-state mathematical models\, al though robustness to model errors proves more valuable than theoretical ex ecution speed. The ZVDD shaper performed best\, consistently achieving the fastest absolute settling time by absorbing the parameter estimation erro rs caused by discrete digital execution. Furthermore\, while continuous re al-time shaping is dynamically viable\, mid-trajectory parameter updates i nduce additional compensating movements that extend the vibrational settli ng time. Consequently\, the findings demonstrate that defaulting to pre-ca librated structural vibrations yields higher performance. The system maint ains optimal cycle times by relying on the broad sensitivity curve of the robust shaper to inherently absorb normal frequency outliers and dynamic p ayload shifts. By reserving real-time adaptation strictly \;for drasti c\, unforeseen mechanical changes\, the proposed architecture provides a r eliable and industrial solution.\n\nMore information about the event: http s://www.control.lth.se/calendar/real-time-vibration-suppression-robotic-en d-effectors DTSTART;TZID=GMT:20260604T111500 DTEND;TZID=GMT:20260604T120000 LOCATION:Seminar Room M 3170-73 in the M-building\, LTH END:VEVENT END:VCALENDAR