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Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control
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
会议录名称Proceeding of the IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码730-735
收录类别EI ; CPCI(ISTP)
EI收录号20145000304584
WOS记录号WOS:000363815200133
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15399
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China
2.Mechanical Engineering Department, Beijing University of Technology, Beijing, China
推荐引用方式
GB/T 7714
Li ZH,Wu ZW,Cui, Jing. Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control[C]. Piscataway, NJ, USA:IEEE,2014:730-735.
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