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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
Department机器人学研究室
Conference NameIEEE International Conference on Information and Automation (ICIA 2014)
Conference DateJuly 28-30, 2014
Conference PlaceHailar, China
Source PublicationProceeding of the IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages730-735
Indexed ByEI ; CPCI(ISTP)
EI Accession number20145000304584
WOS IDWOS:000363815200133
Contribution Rank1
ISBN978-1-4799-4100-1
KeywordVibration Suppression Scara Robot Magnetorhelogical Damper Switching Control
AbstractA 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15399
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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