Robust attenuation of direct-drive robot-tip vibrations

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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 languageEnglish
Title of host publicationProceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2206-2212
ISBN (Print)0-7803-7398-7
DOIs
Publication statusPublished - 2002

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