Optimal design method for dynamic vibration absorbers installed in multijoint mechanisms

Author

Ogiso, Toshio ; Tajima, Fujio ; Takemoto, Akinobu ; Kezuka, Nobumoto ; Kobayashi, Masaru

Author_Institution

Hitachi Ltd., Mech. Eng. Res. Lab., Ibaraki, Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

731

Abstract

In order to achieve fast robotic movement, a control system with a fast response time achieved by using a velocity control unit with high proportional control gain is needed. However, low-frequency mechanical resonance is a limitation. Installation of dynamic vibration absorbers is an effective method for decreasing the resonance peak and increasing the proportional gain. This paper proposes an optimal design method for dynamic vibration absorbers installed in multijoint mechanisms. The absorbers are driven by several motors and have dynamic coupling axes. Results of an experiment using a mechanisms with and without absorbers, are described and the validity of the proposed design method is confirmed

Keywords

damping; optimisation; robots; dynamic vibration absorbers; fast robotic movement; high proportional control gain; multijoint mechanisms; optimal design method; Damping; Delay; Design methodology; Filters; Frequency; Proportional control; Resonance; Robots; Velocity control; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174566

Filename

174566