NDLI: Iterative learning control for vibration reduction in industrial robots with link flexibility

Content Provider	IEEE Xplore Digital Library
Author	Chi-Shen Tsai Wenjie Chen Daekyu Yun Tomizuka, M.
Copyright Year	2013
Description	Author affiliation: Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea (Daekyu Yun) \|\| Dept. of Mech. Eng., Univ. of California, Berkeley, Berkeley, CA, USA (Chi-Shen Tsai; Wenjie Chen; Tomizuka, M.)
Abstract	This paper proposes an iterative learning control (ILC) scheme for the reduction of the end-effector vibration caused by the flexible link deflection in large-size robot manipulators. A 6-DoF LCD substrate transfer robot with two long vertical links is used as the testing example to study the end-effector vibration reduction. Due to the beam flexibility of the long vertical links, the precision performance of the end-effector may be severely degraded especially when robots are out-stretching. Normally there is no actuation degree of freedom on the link of deflection to directly compensate for the vibration. Hence, control action is applied to other actuation degrees of freedom based on the kinematic study of the vibration. Specifically, an ILC scheme is employed to off-line modify the reference trajectory of these robot joints for the next iteration based on prior position measurements of the end-effector and the kinematic relationships between the joints and the end-effector. Simulation results demonstrate the superior performance of the proposed scheme in reducing the vibration of the end-effector.
Starting Page	5195
Ending Page	5200
File Size	902194
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580646
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Joints Vibrations Substrates Service robots Trajectory Loading
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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