Vibration suppression of speed-controlled robots with nonlinear control

doi:10.1007/s11465-016-0380-3

Front. Mech. Eng.

2016, Vol. 11

Issue (2) : 204-212 https://doi.org/10.1007/s11465-016-0380-3

RESEARCH ARTICLE

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL(

),Alessandro GASPARETTO

Dipartimento Politecnico di Ingegneria e Architettura (DPIA), University of Udine, Via delle Scienze 206, Udine 33100, Italy

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Abstract

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

Keywords industrial robot nonlinear control vibration damping model-free control motion control

Corresponding Author(s): Paolo BOSCARIOL

Online First Date: 29 April 2016 Issue Date: 29 June 2016

Cite this article:

Paolo BOSCARIOL,Alessandro GASPARETTO. Vibration suppression of speed-controlled robots with nonlinear control[J]. Front. Mech. Eng., 2016, 11(2): 204-212.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-016-0380-3
https://academic.hep.com.cn/fme/EN/Y2016/V11/I2/204

Fig.1 Block diagram schematics of each axis of the robot

Fig.2 Three-axis Cartesian robot used in the experimental tests

Fig.3 Step tracking: Comparison between PI and nonlinear control

Fig.4 Step response: Measured acceleration on the end-effector, comparison between PI and nonlinear control

Fig.5 Step response: Control action u, comparison between PI and nonlinear control

Fig.6 Trajectory in the operative space

Fig.7 Trajectory: Speed of X, Y, and Z axes

Fig.8 Trajectory: Acceleration of X, Y, and Z axes

Tab.1 Trajectory tracking: Tuning parameters

Fig.9 Trajectory tracking: End-effector position along the X axis, comparison between PI and nonlinear control

Fig.10 Trajectory tracking: End-effector position along the Y axis, comparison between PI and nonlinear control

Fig.11 Trajectory tracking: End-effector position along the Z axis, comparison between PI and nonlinear control

Fig.12 End-effector acceleration along the Y axis: Comparison between PI and nonlinear control

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