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Electronics 2019, 8(1), 30; https://doi.org/10.3390/electronics8010030

Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

1
School of Mechanical and Automotive Engineering, Catholic University of Daegu, Gyeongsan 38430, Korea
2
Department of Mechanical Engineering, Korea National University of Transportation, Chungju 27469, Korea
*
Author to whom correspondence should be addressed.
Received: 16 November 2018 / Revised: 18 December 2018 / Accepted: 23 December 2018 / Published: 1 January 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
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Abstract

The residual vibration when a robot manipulator is operated at high speed needs to be suppressed. These vibrations are generated by the resonance of a flexible object being moved by the robot, and research on control algorithms and motion profiles is ongoing to reduce them. In this paper, we propose a method to reduce the residual vibration of an object moved by a robot manipulator by optimizing the acceleration/deceleration time calculated using the object’s natural frequency. The relationship between acceleration/deceleration time and the residual vibration in a trapezoidal velocity profile is considered by analyzing the scenario when the jerking motion characteristic of such vibrations occurs. The results of experiments using a commercial robot show that residual vibrations can be reduced by the proposed method without the need for an additional feedback control algorithm while transferring a flexible object over small and large distances. View Full-Text
Keywords: industrial robot; manipulator; residual vibration; motion profile; motion control industrial robot; manipulator; residual vibration; motion profile; motion control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Yoon, H.J.; Chung, S.Y.; Kang, H.S.; Hwang, M.J. Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot. Electronics 2019, 8, 30.

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