シミュレーション解析によるロボットアームの振動に関するパラメータスタディ
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概要
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The method of controlling an industrial robot is, at the present, a semiclosed loop for controlling the movement of a robot arm by detecting the rotational angles and velocities of a driving motor. Robot systems of such structure are comprehensively analyzed by simulation, considering not only arm dynamic system, but also control system, driving system and transmission system. As a result, the following facts are made clear in relation to the vibration of robot arm and its reduction.<BR>(1) Characteristics of robot arm vibration<BR>When the rigidities of transmission system is thoroughly weaker than those of control system, the lowest natural vibration of arm dynamic system is predominant. This is also a primary natural vibration of the mathematical model in which the links are rigid and springs are provided at joint. As joint springs, stiffnesses are as equal as the rigidities of transmission system. When the rigidities of control system is thoroughly weaker than those of transmission system, the vibration is caused by the rigidities of control system.<BR>(2) Reduction o f robot arm vibration.<BR>In the first place, it is necessary to find whether the vibration is derived from the rigidity of control system or that of transmission system. If it is due to the rigidity of transmission system, the effective measure is to raise it or lower the rigidity and the damping of control system. If it is due to the rigidity of control system, , it is effective to raise the damping of control system.
- 一般社団法人 日本ロボット学会の論文
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