Abstract

This paper examined the effectiveness of the Optimal Arbitrary Time-delay filter applied to cancel the undesired elastic modes of vibration in complex supporting structures for a precision robot which is under development. To achieve the desired positioning precision, suppressing the structure vibration is essential. For this to be done Optimal Arbitrary Time-delay (OAT) filtering method was chosen. Modeling of the system has been performed and using this model, simulations were done without and with the OAT filter. The ability of OAT filter to cancel the vibration of the structure was demonstrated in the simulation results. To verify the simulation, an experiment including an OAT filter within the robot control system has been done on the current version of the precision robot. Even though the dynamic response of the supporting structure in the precision robot system is inherently of small magnitude and high natural frequency, response due to the filtered command showed that the filter successfully reduced vibration in magnitude and got rid of the residual vibrations faster than the response with the unfiltered command.

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