The modelling of industrial robot manipulator vibration
- Southampton Inst. (United Kingdom). Systems Engineering Research Centre
The work reported in this paper addresses the modelling of robot manipulator vibration, with the specific aim of producing a model suitable to be employed within an active compensation controller. An overview of existing work on the modelling of robot dynamics, both mathematically and empirically, is reported. A model of the dynamics of an industrial manipulator, inclusive of vibration, derived using Lagrangian mechanics is presented and further developed through the application of experimental modal analysis, by which the position dependent modal parameters of an industrial robot manipulator are determined. The model results are compared with experimental vibration data taken from the end-effector of a PUMA562C industrial manipulator using laser interferometry. Control of an end-effector located, active compensator for vibration suppression, based upon the derived model is discussed and recommendations which form the basis of further investigations, currently being undertaken, are presented.
- OSTI ID:
- 382794
- Report Number(s):
- CONF-960154-; ISBN 0-9648731-8-4; TRN: IM9645%%345
- Resource Relation:
- Conference: Energy Week `96: American Society of Mechanical Engineers and American Petroleum Institute energy week conference and exhibition, Houston, TX (United States), 21 Jan - 2 Feb 1996; Other Information: PBD: 1996; Related Information: Is Part Of Energy week `96: Conference papers. Book 4: Engineering technology; PB: 453 p.
- Country of Publication:
- United States
- Language:
- English
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