Modeling and vibration suppression for industrial track robots

摘要

This paper proposes a mathematical model for an industrial track robot. The model is further used to analyze root cause of track robot vibration. A practical solution is proposed to suppress the vibration. Both simulation and experimental results show that the solution is effective and reliable. Comparisons of the results with existing approaches are also presented. The contributions of this paper include: a) the model abstraction and analysis, which was not reported in the open literature for such track robot system; b) a practical solution first time applied to the track robot system, which results in significant performance improvement in industrial applications