Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots
Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2016/6954012 |
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| _version_ | 1832565798519963648 |
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| author | David Alejandro Elvira-Ortiz Rene de Jesus Romero-Troncoso Arturo Yosimar Jaen-Cuellar Luis Morales-Velazquez Roque Alfredo Osornio-Rios |
| author_facet | David Alejandro Elvira-Ortiz Rene de Jesus Romero-Troncoso Arturo Yosimar Jaen-Cuellar Luis Morales-Velazquez Roque Alfredo Osornio-Rios |
| author_sort | David Alejandro Elvira-Ortiz |
| collection | DOAJ |
| description | Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques. |
| format | Article |
| id | doaj-art-8c053974dcd44344a8d6e9dccf841e21 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-8c053974dcd44344a8d6e9dccf841e212025-02-03T01:06:41ZengWileyShock and Vibration1070-96221875-92032016-01-01201610.1155/2016/69540126954012Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial RobotsDavid Alejandro Elvira-Ortiz0Rene de Jesus Romero-Troncoso1Arturo Yosimar Jaen-Cuellar2Luis Morales-Velazquez3Roque Alfredo Osornio-Rios4CA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, Colonia San Cayetano, 76807 San Juan del Rio, QRO, MexicoCA Procesamiento Digital de Señales, CA Telematica, Division de Ingenierias, Universidad de Guanajuato, Campus Irapuato-Salamanca, Carretera Salamanca-Valle km 3.5+1.8, Comunidad de Palo Blanco, 36700 Salamanca, GTO, MexicoCA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, Colonia San Cayetano, 76807 San Juan del Rio, QRO, MexicoCA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, Colonia San Cayetano, 76807 San Juan del Rio, QRO, MexicoCA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, Colonia San Cayetano, 76807 San Juan del Rio, QRO, MexicoVibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques.http://dx.doi.org/10.1155/2016/6954012 |
| spellingShingle | David Alejandro Elvira-Ortiz Rene de Jesus Romero-Troncoso Arturo Yosimar Jaen-Cuellar Luis Morales-Velazquez Roque Alfredo Osornio-Rios Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots Shock and Vibration |
| title | Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots |
| title_full | Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots |
| title_fullStr | Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots |
| title_full_unstemmed | Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots |
| title_short | Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots |
| title_sort | vibration suppression for improving the estimation of kinematic parameters on industrial robots |
| url | http://dx.doi.org/10.1155/2016/6954012 |
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