High-speed transfer of objects by industrial robots induces residual vibration of the objects to be transferred, which leads to a decrease in positioning accuracy. The authors proposed a method to suppress residual vibration by heuristic algorithm to adjust the trajectory, which is the time variation of the robot’s position and posture, based on the measured residual vibration behavior of pliable objects such as fabric products makes it difficult to evaluate the vibration amplitude using contact sensors. In this study, we proposed a non-contact evaluation method for residual vibration in pliable object by image processing. This method was applied to the two degrees of freedom carried object, the residual vibration of it was suppressed by about 80 %. To suppress the residual vibration that the two degrees of freedom pliable object, the number of operating sections and operating time must be appropriately adjusted according to the natural frequency of it.
SHINMURA et al. (Wed,) studied this question.