Vibration control in a dual-drive planar parallel robot

Abstract

A high speed and high precision flexible robot was studied with reduced residual vibrations at high speeds.Dual drives were used to suppress the vibrations in the flexible robot.The robot uses linear motors to provide fast and accurate positioning with preshaping input command selected to suppress the vibrations with a piezo electric slave driver and closed loop feedback controller to restrain the residual vibrations.Experiments validate that the stabilizing time is reduced by 80%.The dual drive strategy is an excellent way to realize high speed,high precision motion control.