Industrial robot track modeling and vibration suppression

The purpose of this paper is to investigate the vibration suppression of industrial track robot and propose a practical solution.

Root‐cause analysis through dynamic modeling, and vibration suppression using the acceleration smoother.

The vibration is due to insufficient damping based on the model analysis. The solution achieved significant performance improvement without redesign of robot hardware and controller.

The design of the proposed acceleration smoother is still empirical based, which is unable to achieve optimal design.

This solution is very easy to implement. It is robust, reliable and is able to generate consistent results.

A very practical industrial solution, especially useful for upgrading the existing systems in the field without redesign the hardware and controller.