User-Specified Inertia Parameter Controls to Improve Robotic Performance
Original Publication Date: 1988-Apr-01
Included in the Prior Art Database: 2005-Feb-15
A technique is described whereby adaptive payload inertia control parameters are implemented in robotic programming so as to enhance four axis joint throughput of the robot. The concept enables the user to optimize robotic performance for various payloads by specifying the inertia at the end of the roll axis and is independent of the load mass. Typically, a belt transmission system is used for the roll axis of a robot in order to minimize the weight at the roll actuator. However, as the roll inertia load increases, a resonance/anti-resonance from the belt appears at the lower frequencies in the open velocity loop transfer function. Position errors can occur as the velocity changes as a function of payload inertia increases.