Journal
MECHANISM AND MACHINE THEORY
Volume 155, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.104072
Keywords
Industrial robots; Dynamic identification; Time-varying dynamics; Configuration dependent dynamics; Vibration suppression; Input shaping
Categories
Funding
- Universal Robots A/S and Innovation Fund Denmark, through the Industrial PhD program
Ask authors/readers for more resources
This paper presents a practical set of new tools for identifying and mapping the natural frequencies and damping ratios of dominant vibration modes of a robot arm, reducing residual vibrations effectively. The combination of new methods yields an efficient vibration suppression with great robustness and low-cost computation, reducing residual vibration of the robot manipulator up to 90%.
Robot arms exhibit non-ignorable residual vibration during point-to-point motion. Fractional Delay Time-Varying Input Shaping Technology (FD-TVIST) has previously been shown to reduce residual vibrations in robots arms, but requires an accurate estimate of the configuration dependent vibrational behavior. This paper presents a practical set of new tools for identifying and mapping the natural frequencies and damping ratios of dominant vibration modes of a robot arm with the commercial UR5e as a case. The new dynamic map is based on a physical interpretation of the robot arm, followed by strategic simplification. The new map of the vibration modes can be described by only 10 identified coefficients. Additionally, FD-TVIST is extended to the multi-mode case. The combination of new methods yields an efficient vibration suppression featuring short time delay, great robustness, simple implementation, low-cost computation, and insensitivity to trajectory generation method. Experimental implementation and validation in a commercial UR robot show that the residual vibration of the robot manipulator is reduced up to 90% with the developed vibration control method. (C) 2020 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available