Vibration control for cartesian 3 axes robot

Yamamoto, Takehito; Tanaka, Kunimaro; Sumiyoshi, M.

doi:10.1109/amc.1996.509324

Cited by 6 publications

(2 citation statements)

References 4 publications

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“…In this way, the system may also support the user when the resultant capacity is not sufficient to reach the target point or to reach the correct direction when the reference trajectory is not satisfied. Finally, the actuators are regulated by a torque-based control, which manages the required forces to satisfy the trajectory of the active DOFs [20][21][22][23][24][25]. The aim is to determine the nominal torque H d and the reference path for ϕ p , denoted ϕ d,p , so that ϕ d,T satisfies the motion equations in (6).…”

Section: Simulation and Preliminary Experimental Resultsmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile.

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Section: Simulation and Preliminary Experimental Resultsmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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“…The first research studies on this topic were carried out in the last few years of the past century by some authors that highlighted the configuration-dependent vibration characteristics of these machines [1,2] and the effect of the modes of vibration of the structural elements on the robot's performance [1]. A detailed review on dynamic analysis of robots with flexible links can be found in Reference [3].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

et al. 2021

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The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances. The Cartesian structure is modeled according to the mode superposition approach. A global analytical model is obtained coupling the aforementioned models, and is solved in MATLAB. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made.

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An iterative feed rate scheduling method with confined high-order constraints in parametric interpolation

Liang

Zhao

2017

Int J Adv Manuf Technol

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Vibration control for cartesian 3 axes robot

Cited by 6 publications

References 4 publications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

An iterative feed rate scheduling method with confined high-order constraints in parametric interpolation

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