The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Study on Motion Acceleration-Deceleration Time to Suppress Residual Vibration of Robot

로봇 잔류 진동 저감을 위한 모션 가감속 시간 설계 연구

  • Kang, Han Sol (Dept. of Mechanical Engineering, Korea National University of Transportation) ;
  • Chung, Seong Youb (Dept. of Mechanical Engineering, Korea National University of Transportation) ;
  • Hwang, Myun Joong (Dept. of Mechanical Engineering, Korea National University of Transportation)
  • Received : 2017.03.28
  • Accepted : 2017.06.07
  • Published : 2017.08.31
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Abstract

In this paper, we proposed a method to determine the acceleration/deceleration time of the motion for reducing the residual vibration caused by the resonance of the robot in the high-speed motion. The relationship between the acceleration/deceleration time and the residual vibration was discussed for the trapezoidal velocity profile by analyzing the time when the jerk happens. The natural frequency of the robot can be estimated in advance through the dynamics simulation. The simulation and experiment for both cases where the moving distance of the robot is long enough and the distance is short, are implemented in the 1-DOF linear robot. Simulation and experimental results show that when the acceleration/deceleration time is a multiple of the vibration period, the settling time and the amplitude of the residual vibration become less than when the time is not a multiple.

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References

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