TY - GEN
T1 - Evaluation of an external vibration damping approach for robot manipulators using a flexible multi body simulation
AU - Berninger, Tobias F.C.
AU - Ochsenius, Marvin A.
AU - Rixen, Daniel J.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In order to achieve increasingly high path accuracy of robot manipulators the structural dynamics of the links, joints and gears become progressively more relevant. To accurately control the TCP of the robot using the joint motors modern control techniques usually rely on high fidelity models, which are notoriously hard to acquire for real manipulator systems. This paper evaluates an external vibration damping approach which simplifies the control problem by adding a force input and acceleration feedback directly to the robot's TCP. The resulting vibration controller reduces the dynamic path error of the system while working independently of the robot's joint controller.
AB - In order to achieve increasingly high path accuracy of robot manipulators the structural dynamics of the links, joints and gears become progressively more relevant. To accurately control the TCP of the robot using the joint motors modern control techniques usually rely on high fidelity models, which are notoriously hard to acquire for real manipulator systems. This paper evaluates an external vibration damping approach which simplifies the control problem by adding a force input and acceleration feedback directly to the robot's TCP. The resulting vibration controller reduces the dynamic path error of the system while working independently of the robot's joint controller.
UR - http://www.scopus.com/inward/record.url?scp=85074262015&partnerID=8YFLogxK
U2 - 10.1109/AIM.2019.8868406
DO - 10.1109/AIM.2019.8868406
M3 - Conference contribution
AN - SCOPUS:85074262015
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1145
EP - 1150
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -