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RESEARCH PAPERS

Active Damping in a Three-Axis Robotic Manipulator

[+] Author and Article Information
P. Meckl, W. Seering

Massachusetts Institute of Technology, Department of Mechanical Engineering, Cambridge, Mass. 02139

J. Vib., Acoust., Stress, and Reliab 107(1), 38-46 (Jan 01, 1985) (9 pages) doi:10.1115/1.3274714 History: Received June 20, 1983; Online December 08, 2009

Abstract

This paper explores several methods to eliminate residual vibration of a robot arm at the end of a move, using open-loop control. The robot structure is modeled as lumped masses and springs with negligible damping, representative of a three-axis Cartesian manipulator. Vibration control is achieved using two different types of forcing functions: (1) a “bang-bang” control function for time-optimal response, and (2) a function constructed to avoid exciting resonance throughout the move. These functions are then compared in their ability to attenuate residual vibration in practice and the response time using (2) is compared with the optimal time using (1).

Copyright © 1985 by ASME
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