Vibration cancellation in complex support structures for precision robots
Book, Wayne John
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This paper examined the effectiveness of the Optimal Arbitrary Time-delay filter applied to cancel the undesired elastic modes of vibration in complex supporting structures for precision robot which is under development. To achieve the desired positioning precision, suppressing the structure vibration is essential. For this to be done OAT filter method was chosen. Modeling of the system has been performed and using this model, simulations were done without and with OAT filter. The ability of OAT filter in canceling the vibration of the structure was demonstrated in the simulation results. And to verify this results, experiment involving OAT filter within the robot control system has been done on the current version of the precision robot. Even though the dynamics response of supporting structure in the precision robot system has an inherent characteristics of small magnitude and high value of natural frequencies, response due to the filtered command showed that the filter successfully reduced vibration in magnitude and got rid of the residual vibrations faster than the response with unfiltered command.