Vibration-damped machine and control method therefor

摘要

A vibration-damped machine (20) and method including beam (22) being capable of gross movements in space relative to a stationary frame (21), means including a motor (24) for causing the beam's gross movements; the gross movements tending to induce vibration into the beam, sensors (26) for providing a signal representative of the induced beam vibration, a linear-acting inertial actuator (28) mounted to the beam, and control means (30) for receiving the signal (37,39) and generating an output signal (31) to actively drive the linear-acting inertial actuator at the appropriate phase, frequency and magnitude to damp induced beam vibrations. Embodiments of the vibration-damped machine are illustrated for a gantry robot, a horizontal machining center, an adhesive dispenser and a pivoting robot. The linear-acting inertial actuator is preferably controlled according to an inertial damping control method where the actuator is forced to behave as a damper attached to ground.