Robust attenuation of direct-drive robot-tip vibrations

D. Kostic; A.G. Jager, de; M. Steinbuch

doi:10.1109/IRDS.2002.1041595

Robust attenuation of direct-drive robot-tip vibrations

D. Kostic, A.G. Jager, de, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

76 Downloads (Pure)

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
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	https://doi.org/10.1109/IRDS.2002.1041595
Publication status	Published - 2002

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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.",

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Robust attenuation of direct-drive robot-tip vibrations. / Kostic, D.; Jager, de, A.G.; Steinbuch, M.

Proceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland. Piscataway : Institute of Electrical and Electronics Engineers, 2002. p. 2206-2212.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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BT - Proceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland

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