Mechatronic robot arm with active vibration absorbers

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00348525" target="_blank" >RIV/68407700:21220/19:00348525 - isvavai.cz</a>
Result on the web
<a href="https://congress.cimne.com/smart2019/frontal/doc/EbookSMART2019.pdf" target="_blank" >https://congress.cimne.com/smart2019/frontal/doc/EbookSMART2019.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Mechatronic robot arm with active vibration absorbers
Original language description
The serial robots are typically able to cover large workspace, but their mass/stiffness ratio does not allow to combine high accuracy and high dynamic of the end-effector operations. Widely spread usage of serial robots, even for tasks as drilling, leads to high accuracy demands through its workspace. Absolute measurement of the end-point for position feedback can be challenging due to objects or even workpiece in workspace, but mainly, inbuild motors of the serial robot cannot response in frequency range high enough as vibration of the end-point is. Instead, additional spring-mass system is attached to the robot to suppress vibrations. Narrow frequency range of passive dynamical absorber can be extended with active elements between robot and absorber, which is also necessary due to robots eigenfrequencies and eigenvalues variability. As feedback input, for more robustness, relative sensing is considered, such as accelerometers or geophones for velocity. As an active absorber control algorithm, firstly, the LQR control with state observer has been designed. Finally, the prepared experimental demonstrators are presented.
Czech name
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Czech description
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Project
<a href="/en/project/GA17-20943S" target="_blank" >GA17-20943S: Active multidimensional vibration absorbers for complex mechanical structures based on delayed resonator method</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019
ISBN
978-84-949194-6-6
ISSN
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e-ISSN
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Number of pages
12
Pages from-to
1456-1467
Publisher name
International Center for Numerical Methods in Engineering (CIMNE)
Place of publication
Barcelona
Event location
Paris
Event date
Jul 8, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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