Industrial robot track modeling and vibration suppression

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.