An Active Vibration Suppression Method for Macro-Mini Manipulator

This paper aims to reduce vibration of end-effectors caused by low stiffness and large inertia of industrial robots during grinding and polishing, and to further improve the performance of force control. The proposed method to solve this problem is impedance matching. An additional impedance is introduced to match coupling impedance with industrial robots and end-effectors. The results obtained in simulations and experiments prove that the proposed approach can achieve minor vibration than traditional force control.