Simulation and experimental validation of novel trajectory planning strategy to reduce vibrations and improve productivity of robotic manipulator

This paper aims at investigating vibrational behaviors of the industrial manipulator Racer 7-1.4, designed and manufactured by COMAU S.p.A., with the target of new trajectory planning strategies to improve productivity rate without any loss of positioning accuracy. Starting from the analysis of a 9DoF multi-body system with lumped parameter, the first natural frequency of the robot was calculated in seven reference positions. Then, static and dynamic simulations were run by applying saturated ramp input and large motions to analyze the vibrational behavior of the manipulator. This research underlines that the optimal way to design the robot move is to set its duration at twice a period of free oscillation according to the first vibrational mode. Due to strong analogy of dynamic response of both 1DoF and 9DoF robot models, the closed-form solution of the 1DoF undamped system—featured by natural frequency equal to the first frequency of the 9DoF system—may be successfully adopted by the real-time trajectory planning process to predict residual vibration at move end-condition. This strategy was confirmed by experimental tests, allowing either residual vibration decrease and execution time reduction as well.