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http://dx.doi.org/10.5302/J.ICROS.2006.12.4.371

Controller Design for Flexible Joint of Industrial Robots: Part 2 - Vibration Suppression Control and Gain-Scheduling  

Park Jong-Hyeon (한양대학교 기계공학부)
Lee Sang-Hun (한양대학교 대학원 정밀기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.4, 2006 , pp. 371-379 More about this Journal
Abstract
Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.
Keywords
Industrial robot; joint flexibility; two-mass system; state feedback; gain-scheduling;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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