Suppressing of Multi-Axial Vibration Caused in Carried Objects by Robot Using a Heuristic Algorithm Based on Evaluation Actual Machine Information

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.