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External Vibration Damping of a Robot Manipulator's TCP Using Acceleration Feedback
Author(s) -
Berninger Tobias F. C.,
Rixen Daniel J.
Publication year - 2019
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201900344
Subject(s) - robot , acceleration , control theory (sociology) , actuator , control engineering , vibration , controller (irrigation) , parallel manipulator , trajectory , computer science , simulation , engineering , control (management) , artificial intelligence , agronomy , physics , classical mechanics , quantum mechanics , astronomy , biology
There are multiple possible applications, which demand high accuracy from industrial robot arms. The usual approach to improve the path accuracy of these robot manipulators is to make the mechanical design as stiff as possible and to employ high fidelity joint controllers, which compensate path inaccuracies with well‐identified models of the manipulator system. These methods are, however, only available to the robot manufactures themselves during their development phase. Companies designing tools for specific high accuracy tasks generally cannot change the design of a given robot manipulator and are bound to its precision. An alternative concept to further increase the path accuracy of a robot manipulator, without making changes to its design itself, might be to employ traditional Active Vibration Damping techniques by adding a supplementary proof‐mass actuator to the robots tool center point with collocated acceleration sensor feedback. This paper explores the feasibility of this idea within a multi body simulation of a simple robot manipulator, which consist of rigid links, flexible joints and is actuated by cascaded joint controllers. The performance of an acceleration feedback controller employed on the robots TCP is evaluated by a test trajectory.