DocumentCode
2189550
Title
Vibration control for cartesian 3 axes robot
Author
Yamamoto, Tsuyoshi ; Tanaka, Katsuhisa ; Sumiyoshi, Masayuki
Author_Institution
Dept. of Dev. & Planning, Toyota Motor Corp., Aichi, Japan
Volume
2
fYear
1996
fDate
18-21 Mar 1996
Firstpage
647
Abstract
This paper presents a vibration control method for a cartesian 3 axes robot which can be used practically with a conventional PID controller. We focused attention on preshaping control based on not only the difference between acceleration and deceleration times but also difference between the positive and negative jerk (differentiation of acceleration). We confirmed that even a low-cost control unit can reduce the vibration settling time by 0.2 to 0.5 second, half the time of conventional PID control
Keywords
robots; three-term control; vibration control; 0.2 to 0.5 s; cartesian 3 axes robot; conventional PID controller; low-cost control unit; preshaping control; vibration control; vibration settling time; Acceleration; Automatic control; Costs; Manufacturing automation; Robot control; Robotic assembly; Robotics and automation; Three-term control; Vibration control; Vibration measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location
Mie
Print_ISBN
0-7803-3219-9
Type
conf
DOI
10.1109/AMC.1996.509324
Filename
509324
Link To Document