Abstract
Residual vibration, which limits the terminal positioning precision of robotic manipulators, can be due to low frequency structural modes that are self-excited by the manipulator during operation. Redesigning the structure to modify the resonant frequency(s) causing residual vibration can be impractical or too costly. An intelligent controller scheme is being developed at the Advanced Manufacturing Center of Cleveland State University to measure and control residual vibration caused by the principal structural resonance. Test results for a simple cantilever beam system and for a desktop articular-arm robot are presented.
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