Industrial robot track modeling and vibration suppression
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Purpose – The purpose of this paper is to investigate the vibration suppression of industrial track robot and propose a practical solution. Design/methodology/approach – Root-cause analysis through dynamic modeling, and vibration suppression using the acceleration smoother. Findings – The vibration is due to insufficient damping based on the model analysis. The solution achieved significant performance improvement without redesign of robot hardware and controller. Research limitations/implications – The design of the proposed acceleration smoother is still empirical based, which is unable to achieve optimal design. Practical implications – This solution is very easy to implement. It is robust, reliable and is able to generate consistent results. Originality/value – A very practical industrial solution, especially useful for upgrading the existing systems in the field without redesign the hardware and controller.
The article of record as published may be located at http://dx.doi.org/10.1108/01439910710749645
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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