Vibration control for cartesian 3 axes robot

摘要

This paper presents a vibration control method for a cartesian 3 axes robot which can be used practically with a conventional PID controller. We focused attention on preshaping control based on not only the difference between acceleration and deceleration times but also difference between the positive and negative jerk (differentiation of acceleration). We confirmed that even a low-cost control unit can reduce the vibration settling time by 0.2 to 0.5 second, half the time of conventional PID control.