Vibration control of a SCARA manipulator using pseudo-polynomial motion laws

Author

Incerti, Giovanni

Author_Institution

Dept. of Mech. & Ind. Eng., Univ. of Brescia, Brescia

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

2802

Lastpage

2807

Abstract

The paper describes a motion planning procedure aimed to vibration control of industrial robots for assembly operations. The proposed technique is based on a ldquopre-shapingrdquo of the motion profiles assigned to each degree of freedom of the machine. A mathematical model is used to simulate the dynamic behaviour of the manipulator and an optimization procedure, based on mathematical programming techniques, is employed for the automatic selection of the motion laws that allow vibration reduction. Some numerical results are presented in the final part of the paper, in order to demonstrate the effectiveness of the proposed approach.

Keywords

compliance control; industrial manipulators; mathematical programming; mobile robots; path planning; polynomials; robotic assembly; vibration control; industrial robot manipulator; mathematical programming; motion planning procedure; optimization procedure; pseudopolynomial motion law; selective compliance assembly robot arm; vibration control; Joints; Manipulator dynamics; Manipulators; Mathematical model; Robot kinematics; Robots; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650598

Filename

4650598