Boundary Control of Flexible-Link Electrically Driven Gantry Robots


Background

Gantry robots are used for precision manufacturing and material handling in the electronics, nuclear, and automotive industries. Overhead mounted, rectilinear robots transport heavy payloads in large workspaces with accuracy and flexibility. In many cases, accurate positioning of the robot payload is essential. Often, the vibration characteristics rather than load capacity dictate the size and stiffness of the arm. Light and flexible links require less power to transport heavy payloads but may vibrate excessively. These vibrations can then feed into the robot position control system and cause system instabilities.


Research Work


Publications

In preparation