Industrial robot track modeling and vibration suppression
Loading...
Authors
Tao, WeiMin
Zhang, MingFun
Ma, Ou
Yu, XiaoPing
Subjects
Robotics
Control systems
Modeling
Vibration
Control systems
Modeling
Vibration
Advisors
Date of Issue
2007
Date
Publisher
Monterey, California; Naval Postgraduate School
Language
Abstract
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.
Type
Article
Description
The article of record as published may be located at http://dx.doi.org/10.1108/01439910710749645
Series/Report No
Department
Computer Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Industrial Robot: An International Journal
34/4 (2007) 317–325
q Emerald Group Publishing Limited [ISSN 0143-991X]
Distribution Statement
Rights
This 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.