Vibration Reduction in a Gantry Robot

Abstract: This report considers the problems of using a model-based approach to develop an estimation for a non-linear system using a linear model. Different estimation approaches were researched and evaluated using an ideal system, thus finding the suitable method for this thesis. The investigations considered both drive-train friction and the identification of oscillatory modes in a real industrial robot system of gantry-type and in a couple of laboratory setups, with different levels of achieved accuracy and reproducibility. A simple experiment with model-based reference compensation from identified oscillatory dynamics motivates the estimation problem and illustrate achievable benefits.