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Prevention of Servo-Induced Vibrations in Robotics

Larsson, Peter (2011)
Department of Automatic Control
Abstract
This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A... (More)
This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A comparison is also conducted between the
derived preventive solution and an already existing one in the servo drive
systems at hand. (Less)
Please use this url to cite or link to this publication:
author
Larsson, Peter
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
ISSN
0280-5316
other publication id
ISRN LUTFD2/TFRT--5889--SE
language
English
additional info
key=5889
id
2204788
date added to LUP
2011-11-16 14:26:39
date last changed
2011-11-30 13:20:30
@misc{2204788,
  abstract     = {This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A comparison is also conducted between the
derived preventive solution and an already existing one in the servo drive
systems at hand.},
  author       = {Larsson, Peter},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Prevention of Servo-Induced Vibrations in Robotics},
  year         = {2011},
}