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题名: Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control
作者: Li ZH(李志海); Wu ZW(吴镇炜); Cui, Jing
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Information and Automation (ICIA 2014)
会议日期: July 28-30, 2014
会议地点: Hailar, China
会议录: Proceeding of the IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 730-735
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-4100-1
关键词: vibration suppression ; SCARA robot ; magnetorhelogical damper ; switching control
摘要: A vibration suppression method using switching control is proposed for smooth motion control of SCARA robot in wafer transition. The wafer robot is composed of joints integrated with magenetorhelogical damper. Vibration often occurs when acceleration jump abruptly, especially in the end of operation period. The residual vibration decreases the safety of wafer operation and extends the settling time. Firstly, Vibration sources of the driving joints are analyzed. Strategy by using switching control is analyzed. And dynamics model of robot joint with elasticity element is established. Magenetorhelogical damper is introduced into the design of joint structure to suppress vibration. It could provide reliable suppression effectiveness. Control structure of joint with elasticity and MR damper is discussed. And a PD controller is applied into joint motion control. Frequency characteristic of the joint demonstrates the stability of the control loop. Finally, simulation is implemented to verify the effectiveness of the proposed method.
语种: 英语
产权排序: 1
WOS记录号: WOS:000363815200133
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15399
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Li ZH,Wu ZW,Cui, Jing. Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control[C]. 见:IEEE International Conference on Information and Automation (ICIA 2014). Hailar, China. July 28-30, 2014.
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