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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

4 Citaten (Scopus)

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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-2	Engels
Titel	Proceedings of the International Conference on Intelligent Robots and Systems (2002 IEEE/RSJ), October 2002, Lausanne, Switzerland
Plaats van productie	Piscataway
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	2206-2212
ISBN van geprinte versie	0-7803-7398-7
DOI's	https://doi.org/10.1109/IRDS.2002.1041595
Status	Gepubliceerd - 2002

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10.1109/IRDS.2002.1041595

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title = "Robust attenuation of direct-drive robot-tip vibrations",

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.",

author = "D. Kostic and \{Jager, de\}, A.G. and M. Steinbuch",

year = "2002",

doi = "10.1109/IRDS.2002.1041595",

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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. blz. 2206-2212.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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N2 - 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.

AB - 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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DO - 10.1109/IRDS.2002.1041595

M3 - Conference contribution

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

PB - Institute of Electrical and Electronics Engineers

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Robust attenuation of direct-drive robot-tip vibrations

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