A surveillance of structural oscillations of industrial robots using optimal control at energy performance index |
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| Authors: | Krzysztof J Kaliński Krzysztof Jasiński |
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| Institution: | 1. Gdańsk University of Technology, Faculty of Mechanical Engineering, 80-233 Gdańsk ul. Narutowicza 11/12;2. Grudziądz High School, 86-300 Grudziądz ul. Hallera 31 |
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| Abstract: | Here is considered vibration of non-stationary carrying system of the IRb-6 robot. For a use of vibration surveillance an algorithm of modal control at energy performance index in the frequency domain has been applied. Purpose of the algorithm proposed is to minimise vibration amplitude of manipulating ends, and thus – to increase capacity of modern robot lines as well as, improve accuracy and repeatability of robot positioning. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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