Here,aiming at the problem of excessive vibration on connecting rod side under flexible action of reducer during start-stop phase of industrial robot joint motion,a vibration suppression control method combining expected dynamics and input shaping was proposed.Based on a dual-inertia model,the dynamic equation of a robot flexible joint system was established,and the calculation formula of an input shaper was derived taking zero vibration as the goal.At the same time,control laws of torque loop and position loop of the controller were designed according to the expected parameters of the system.The expected dynamics controller was combined with the input shaper to explore the corresponding relation between the two parameters.Compared with traditional methods,the feasibility and effectiveness of the proposed control method was verified.The results showed that the proposed vibration suppression control method combining expected dynamics with input shaping effectively simplifies the design process of input shaper and obtains better residual vibration suppression effect;meanwhile,this control method can stabilize modal parameters of the flexible joint system,and enable the input shaper to keep higher vibration suppression performance under different load conditions,and greatly improve the robustness of the vibration suppression control method;the proposed vibration suppression control method can improve the accuracy of robot operation and increase the service life of joints.
维普
万方数据