Manipulator vibration of mobile robots in the context of intralogistic value creation

Abstract

In order to implement intralogistic value creation with autonomous mobile robot manipulators, the fundamental challenge of occurring vibrations must be quantified and analyzed. Therefore, this paper examines a standardized procedure for vibration measurement for mobile assembly. In addition to parameters such as speed and axis positions of the manipulator, influencing factors such as the shopfloor surface and acceleration are also relevant for the overall vibration, making this a multi-criteria problem. To address this, a standardized measurement method for mobile robots with manipulators is developed. By applying this method and simultaneously comparing established measurement methods for stationary robots, the necessity of this extended measurement method for mobile robot systems is proven.