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

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.