Robust attenuation of direct-drive robot-tip vibrations

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Samenvatting

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.
Originele taal-2Engels
TitelProceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's2206-2212
ISBN van geprinte versie0-7803-7398-7
DOI's
StatusGepubliceerd - 2002

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