Influence du jerk sur le comportement dynamique d'un robot cartésien 3 axes

robot. The focus of this paper is on the particular influence of the jerk limited profile on the dynamic behaviour of a 3-axis Cartesian robot. This robot is used for the unloading of the moulding machines. The predominating performances criteria are the movement time and the residual vibrations induced by high dynamical demands. The performances of a jerk limited movement law are evaluated using an analytical model of the controlled system. We show that the jerk lime parameter can be used to limit the residual vibrations while preserving the movement time by a combined action on the position loop gains. Experimental measurements demonstrate the effectiveness of the proposed approach.