Industrial robot track modeling and vibration suppression

Purpose - The purpose of this paper is to investigate the vibration suppression of industrial track robot and propose a practical solution.Design methodology approach - Root-cause analysis through dynamic modeling, and vibration suppression using the acceleration smoother.Findings - The vibration is due to insufficient damping based on the model analysis. The solution achieved significant performance improvement without redesign of robot hardware and controller.Research limitations implications - The design of the proposed acceleration smoother is still empirical based, which is unable to achieve optimal design.Practical implications - This solution is very easy to implement. It is robust, reliable and is able to generate consistent results.Originality value - A very practical industrial solution, especially useful for upgrading the existing systems in the field without redesign the hardware and controller.