OPTIMIZATION OF LIGHTLY DAMPED PICK-AND-PLACE PROCESSES USING OPTIMAL DYNAMIC-VIBRATION-ABSORBERS

摘要: Vibration absorbers appear in a wide range of uses including, but not limited to, architecture: smoke stacks, windmills, bridges, and cellular towers; consumer goods: refrigerators, seating vehicles, dishwashers; rotational equipment: pumps, generators, engines [1, 8-10]. However, the application to field robotics, automated manufacturing, known trajectories has been limited. Pick-and-place processes are commonplace manufacturing. A method devised for increasing precision these tasks using dynamic vibration attenuate dynamics induced by step-like disturbances coming from point-to-point reference commands. These novel then combined with an intelligent choice cycle time produce enhanced performance lightly damped manufacturing machines. The aforementioned examples usually designed eliminate periodic, sinusoidal, or random vibrations. absorber studied its solution is only analytically definable non-real world application, i.e. true white noise [11, 12]. Time optimal have also definition does necessarily coincide best robotic [13]. approach varied widely. Autoparametric study, graph models, system stability, various control techniques, as well shear numerical testing attempted [14-16].