This paper present the result that techniques of velocity control based on Finite Jerk to reduce Vibration of 3-Axis SCARA Robot using AC-servo motor. In case of the high speed motion, jerk (the first derivative of acceleration) is the principle facto...
This paper present the result that techniques of velocity control based on Finite Jerk to reduce Vibration of 3-Axis SCARA Robot using AC-servo motor. In case of the high speed motion, jerk (the first derivative of acceleration) is the principle factor of vibration of the robot mechanical part. Therefore we can reduce vibration of 3-Axis SCARA Robot using Finite Jerk (taken trapezoidal acceleration form) by control Jerk duration time. (△t) This paper prpose Finite Jerk velocity profile, apply Finite Jerk to 3-Axis SCARA Robot using LabVIEW<SUP>®</SUP> and NI PXI-7350 Motion Controller. And Robot motion applied Finite Jerk compare vibrations with trapezoidal and S-Curve velocity mode.