| Title: | GS4-4 Suppressing of Multi-Axial Vibration Caused in Carried Objects by Robot Using a Heuristic Algorithm Based on Evaluation Actual Machine Information |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 878-882 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.GS4-4 |
| Author(s): | Yusuke Ueno, Fumitoshi Shimono, Ryo Shinmura, Hiroki Noguchi, Hiroshi Tachiya |
| Publication Date: | February 13, 2025 |
| Keywords: | Robot arm, Residual vibration, Trajectory planning, Heuristic algorithm |
| Abstract: | Residual vibrations induced in objects carried by robots cause the positioning accuracy to deteriorate, which makes the installation of carried objects difficult. This study proposes a method for determining a trajectory that can suppress residual vibration using a heuristic algorithm, based on the behavior of a carried object, which is measured by actually operating a robot. Trajectories were generated for a commercially available industrial robot to suppress residual vibrations in two axial directions for a pendulum-shaped object to be transported. By optimizing the path shape and acceleration/deceleration, a trajectory that reduces the amplitude of residual vibration in each axis direction by 70% was successfully generated in a few actual machine operations. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/GS/GS4/GS4-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.