A technique for vibration suppression of a 2 dof compliant manipulator

Abstract

The paper describes a motion planning method that is able to reduce the vibrations of robots having non-rigid transmissions. The proposed approach is based on the use of parametric motion laws (for each axis of the machine) derived from standard polynomial functions. The parameters that define the shape of the motion profiles are selected in such a way as to reduce the so called "overshooting effect", that is the mechanical vibration arising at the end of the motion time. The calculation procedure employs a mathematical model of the manipulator and an optimization algorithm, that acts as a motion planner and automatically selects the acceleration profiles of the robot actuators. © Springer Science+Business Media B.V. 2009.