Industrial robot track modeling and vibration suppression

摘要

Purpose The purpose of this paper is to investigate the vibration suppression of industrial track robot and propose a practical solution. Design/methodology/approach Root‐cause analysis through dynamic modeling, and vibration suppression using the acceleration smoother. Findings The vibration is due to insufficient damping based on the model analysis. The solution achieved significant performance improvement without redesign of robot hardware and controller. Research limitations/implications The design of the proposed acceleration smoother is still empirical based, which is unable to achieve optimal design. Practical implications This solution is very easy to implement. It is robust, reliable and is able to generate consistent results. Originality/value A very practical industrial solution, especially useful for upgrading the existing systems in the field without redesign the hardware and controller.