Premium
A surveillance of structural oscillations of industrial robots using optimal control at energy performance index
Author(s) -
Kaliński Krzysztof J.,
Jasiński Krzysztof
Publication year - 2009
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200910122
Subject(s) - robot , vibration , modal , frequency domain , energy (signal processing) , index (typography) , repeatability , control theory (sociology) , computer science , amplitude , control (management) , engineering , artificial intelligence , acoustics , computer vision , mathematics , materials science , physics , statistics , quantum mechanics , world wide web , polymer chemistry
Here is considered vibration of non‐stationary carrying system of the IRb‐6 robot. For a use of vibration surveillance an algorithm of modal control at energy performance index in the frequency domain has been applied. Purpose of the algorithm proposed is to minimise vibration amplitude of manipulating ends, and thus – to increase capacity of modern robot lines as well as, improve accuracy and repeatability of robot positioning. (© 2009 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)