Comparative Study on Sensorless Vibration Suppression of Fast Moving Flexible Linear Robots

This contribution introduces three sensorless vibration suppression methods for flexible, fast moving linear robots. After some investigations concerning the required mathematical models of the flexible linear robot, several vibration suppression techniques are derived in detail. The main idea of all concepts is the specific modification of an arbitrary trajectory in real time. Therefore, all conventional control concepts of the robot may remain unchanged. The application of each technique leads nearly to a complete annihilation of the TCP vibrations immediately after the end of the trajectory. For this reason, the implementation of these methods allows much higher velocities and therefore lower cycle times in nearly every manipulation process. Over and above, these vibration suppression methods enable light-weight construction and therefore lower energy consumption and represent an important step to increase velocity and energy efficiency in automation processes.