Journal
ELECTRONICS
Volume 8, Issue 1, Pages -Publisher
MDPI
DOI: 10.3390/electronics8010030
Keywords
industrial robot; manipulator; residual vibration; motion profile; motion control
Categories
Funding
- National Research Foundation of Korea (NRF) - Korea government (MSIP
- Ministry of Science, ICT & Future Planning) [2017R1C1B5017771]
- National Research Foundation of Korea [2017R1C1B5017771] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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The residual vibration when a robot manipulator is operated at high speed needs to be suppressed. These vibrations are generated by the resonance of a flexible object being moved by the robot, and research on control algorithms and motion profiles is ongoing to reduce them. In this paper, we propose a method to reduce the residual vibration of an object moved by a robot manipulator by optimizing the acceleration/deceleration time calculated using the object's natural frequency. The relationship between acceleration/deceleration time and the residual vibration in a trapezoidal velocity profile is considered by analyzing the scenario when the jerking motion characteristic of such vibrations occurs. The results of experiments using a commercial robot show that residual vibrations can be reduced by the proposed method without the need for an additional feedback control algorithm while transferring a flexible object over small and large distances.
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