Vibration Suppression of Non-Deformable Metal Strip for Robot Assisted Assembly Operation

Current work presents a vibration suppression strategies of a Non-Deformable Metal Strip which is induced by rapid action of an industrial robot. In this case an external controller is designed as outer controller without any interruption in the robot internal controller to suppress the residual vib...

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Bibliographic Details
Published in2020 International Conference on Emerging Trends in Communication, Control and Computing (ICONC3) pp. 1 - 6
Main Authors Jalendra, Chetan, Rout, B.K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2020
Subjects
Metals
Peg-in-Hole Assembly
PID Controller
Robot sensing systems
Robotic Assembly
Service robots
Stability analysis
Strips
Vibration measurement
Vibration suppression
Vibrations
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Summary:Current work presents a vibration suppression strategies of a Non-Deformable Metal Strip which is induced by rapid action of an industrial robot. In this case an external controller is designed as outer controller without any interruption in the robot internal controller to suppress the residual vibration in NDMS. The proposed controller is simulated in MATLAB/Simulink environment and designed in Python IDLE to validate the controller. The external controller is a closed-loop feedback Proportional Integral Derivative (PID) controller designed especially for an industrial robot that does not have control over acceleration. The robustness of the proposed controller is tested experimentally through the vibration control of a NDMS which is supposed to perform peg in hole assembly operation in various operating conditions. The designed controller suppresses vibration in less than 5 seconds and the stability time is reduced by 95% for in a Peg-in-hole assembly task.
DOI:10.1109/ICONC345789.2020.9117551