Abstract
This paper suggests and employs a method for reducing vibrations at the tip of a robot. The vibrations, caused by structural flexibility, are detected using accelerometers. The robot control system consists of two complementary sub-systems: a nominal motion controller and a vibration compensator. The former one realizes joint motions in accordance with a prescribed tip trajectory. The latter one robustly attenuates oscillations at the tip that are due to structural flexibility. The benefits of this set-up are experimentally verified for a spatial direct-drive robot with 3 revolute degrees of freedom.
Original language | English |
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Title of host publication | Proceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 2206-2212 |
ISBN (Print) | 0-7803-7398-7 |
DOIs | |
Publication status | Published - 2002 |