Vibration Control of Linear Robots Using a Piezoelectric Actuator

Document Type

Article

Publication Date

12-1-2003

Abstract

This paper presents the results of vibration control strategy for high-speed linear robots using an auxiliary piezoelectric actuator. With acceleration reaching 3 g, rapid horizontal slewing motion inevitably excites the structural resonances of the robot and generates vertical vibration forces exceeding the tolerance of the end-effector. Instead of controlling the robot vibration from the main actuators (ac servomotors with limited bandwidth), a piezoelectric actuator is deployed to provide vibration suppression at the load in the z direction. This way the robot is treated as a disturbance generator while the piezoactuator is considered as the plant. A digital servocompensator is then designed and implemented to suppress these vibration modes. Typically, attenuation is achieved for the dominant mode with 30 dB and other modes with 15 dB. Suppression of vibration up to seven modes has been implemented satisfactorily.

Identifier

0346500652 (Scopus)

Publication Title

IEEE ASME Transactions on Mechatronics

External Full Text Location

https://doi.org/10.1109/TMECH.2003.820000

ISSN

10834435

First Page

439

Last Page

445

Issue

4

Volume

8

Grant

70NANB5H1092

Fund Ref

National Institute of Standards and Technology

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