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	Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control
	Li ZH(李志海); Wu ZW(吴镇炜); Cui, Jing
	2014
会议名称	IEEE International Conference on Information and Automation (ICIA 2014)
会议日期	July 28-30, 2014
会议地点	Hailar, China
关键词	vibration suppression SCARA robot magnetorhelogical damper switching control
页码	730-735
中文摘要	A vibration suppression method using switching control is proposed for smooth motion control of SCARA robot in wafer transition. The wafer robot is composed of joints integrated with magenetorhelogical damper. Vibration often occurs when acceleration jump abruptly, especially in the end of operation period. The residual vibration decreases the safety of wafer operation and extends the settling time. Firstly, Vibration sources of the driving joints are analyzed. Strategy by using switching control is analyzed. And dynamics model of robot joint with elasticity element is established. Magenetorhelogical damper is introduced into the design of joint structure to suppress vibration. It could provide reliable suppression effectiveness. Control structure of joint with elasticity and MR damper is discussed. And a PD controller is applied into joint motion control. Frequency characteristic of the joint demonstrates the stability of the control loop. Finally, simulation is implemented to verify the effectiveness of the proposed method.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceeding of the IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-4100-1
WOS记录号	WOS:000363815200133
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15399]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li ZH,Wu ZW,Cui, Jing. Vibration suppression for SCARA Robot with Magnetorhelogical Damper by Using Switching control[C]. 见:IEEE International Conference on Information and Automation (ICIA 2014). Hailar, China. July 28-30, 2014.

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