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Limit acceleration of robot joints/motors

marspi
marspi ✭
in Developer Tools

Hi all,

The robot that we're using is a IRB2600 which is placed on a support that is a bit to flexible, which makes the robot vibrate. 
We're looking into a mechanical solution, in the mean time we want to reduce the effect in software. 
The acceleration of the TCP is already reduced using PathAccLim, this reduces the effect.
It is however not completely solved, in the case the TCP makes a small rotation over x of y the arm makes a large moment with a high acceleration.

Therefore i would like to reduce the acceleration of the motors/joints, I've tried this using Configuration->Motion->Acceleration Data in RobotStudo and SDK. 
However this has no effect on the acceleration. Is this the correct way of Limiting the acceleration the joints or is there another way?


Thanks in advance.

Comments

  • Laro88
    Laro88 ✭
    I did not find a solution for a similar problem so I ended up limiting the angular velocity of the joints where the special motions takes place.
    this is done int he speeddata, second value.

    It would be better to have the max joint acceleration in degrees pr second - but this is perhaps a bit too special to request, and it would be very pose specific.
  • Janno
    Janno ✭

    hi,

    isn't this a robotstudio problem?
    in any case do u use the AccSet Variable?

    the first variable is the % of accelleration used
    the second is the % of ramp used

    more can be found at http://developercenter.robotstudio.com/index.aspx?devcenter=devcentermanualstore

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