Research on Elimination of Manipulator Vibration by Torque Compensation Control Based on Statics Identification
During positioning and grabbing operation of the manipulator,vibration caused by flexibility of the manipulator affects operation efficiency.Therefore,many experts and scholars design controllers to carry out open-loop feedforward control.However,due to neglect of nonlinear factors such as the friction of the joint end of the manipulator and the friction of the motor end,the control accuracy is insufficient,and the effect of joint vibration elimination is unsatisfactory.To solve this problem,this paper proposes a method to obtain accurate friction torque compensation through statics identification,and then design the accurate joint torque compensation control rate.Finally,have the effectiveness of the method verified by MATLAB simulation.
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