Vibration Damping of a Flexibly Mounted End-Effector in a Robotic Manipulator During Motion

This article addresses the issue of damping unwanted vibrations induced during movement in various mechatronic systems containing flexible secondary components. The work presents a theoretical description of methods for designing shapers, alongside simulations on models with simplified dynamics and experimental verification on a real robotic manipulator, where the flexible component is a flexible beam. The analytical approach, based on spectral analysis, utilizes the principle of shaping the input signal, which mostly represents a speed profile, from which the frequency components responsible for unwanted vibrations are filtered out through the application of Dirac pulses. The advantage of this approach lies in its simplicity, requiring no intervention in the physical structure of the system, thereby reducing the need for additional damping mechanisms and enabling broad applicability in various industrial contexts. The results demonstrate that the application of shapers significantly reduces vibrations, which is confirmed experimentally, facilitating the efficient implementation of faster movements without generating unwanted vibrations. The conclusion discusses the potential for system identification, as well as further development and application of these methods.