On the vibration control of a flexible metallic beam handled by an industrial robot within an ARX-Based synthetic environment

Abstract

This study addresses the problem of vibration control of a flexible metallic beam which is transferred by an industrial robot. The control is designed in a special Matlab/Simulink synthetic environment that is founded on AutoRegressive with eXogenous (ARX) stochastic modelling of the robot-beam system through exclusively experimental data. Based on this, a simple closed-loop control system consisting of a feedforward typical Proportional- Integral (PI) controller and a feedback that enables the minimization of the induced force at the wrist of the robot is developed for beam vibration control. The data-based modelling of the robot-beam system allows for the precise design of the control system in offline mode, without interrupting normal production conditions, and achieves excellent performance in real time application.