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Seeking Advice: Reducing Vibration and Noise During Laptop Lid Opening
(UR5e)
Hello everyone,
I am currently teaching a robot to open and close a laptop lid.
(1 second to open and 1 second to close.)
However, during the opening motion, I hear a “thud” sound accompanied by vibrations when the lid is fully opened.
There are no physical collisions between the robot, its joints, or the laptop lid.
I suspect this issue might be related to the tool speed and tool acceleration settings.
However, even after adjusting these parameters, the vibration and noise persist.
Here are the current settings I am using:
Tool Speed: 250 mm/s
Tool Acceleration : 1200 mm/s²
Use Shared Blend Radius : 25 mm
Payload : 0.5 kg
Could anyone advise on what might be causing this issue and how to resolve it?
I would like to reduce the vibration and eliminate the “thud” sound that occurs when the lid is fully opened.
Your guidance and suggestions would be greatly appreciated.
Thank you. 
It seems like It looks like the acceleration is still fairly high, and that wrist 1 is moving pretty quickly, I would move the laptop further from the base of the robot, and add an additional point maybe 50-100mm from the “laptop open” position allowing the ability to maintain speed throughout the rest of the program, and cutting speed and acceleration (probably in half) for the end of the program.
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I really appreciate your advice. I’ll give it a try. Happy New Year!
The thud is probably the nature of the MoveP (or C) blending into your Wait statement, which is essentially a halt. You might try inserting a Script Node and typing stopj(5). You can fiddle with the number inside the parentheses, but see if that gets rid of the thunking. Just be aware that if you’re moving really fast, the stopj() may allow the robot to drift further than you want. (Higher value will decelerate the joints faster) I’d hate for the robot to damage the laptop because you weren’t aware what it’s doing, so I’d be sure to run it a few times without gripping the lid to verify it doesn’t over-travel
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