首页|Study Findings from Tianjin University Advance Knowledge in Robotics (Mechanical resonance suppression of the high-speed parallel robot based on fractional orde r disturbance observer)
Study Findings from Tianjin University Advance Knowledge in Robotics (Mechanical resonance suppression of the high-speed parallel robot based on fractional orde r disturbance observer)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New study results on robotics have bee n published. According to news reporting from Tianjin, People's Republic of Chin a, by NewsRx journalists, research stated, "Considering the flexibility of the t ransmission shaft system, this paper presents an approach for mechanical resonan ce suppression of the high-speed parallel robot based on fractional order distur bance observer." Our news editors obtained a quote from the research from Tianjin University: "Fi rst, in order to evaluate mechanical resonance, a decoupled mechatronic dynamics model is built. Based on the proposed decoupled dynamics model, the mechanical resonance under different influence factors is analyzed. Then, based on the thre e closed-loop control structure of servo system, a model-based parameter tuning method is adopted in the controller parameter tuning. Finally, inspired by the t raditional disturbance observer, a fractional order disturbance observer is esta blished by introducing a fractional order filter. Results show that due to the f lexibility of the transmission shaft system, under the combined action of mechan ical disturbance torque and electromagnetic driving torque, the joint transmissi on system will generate mechanical resonance phenomena." According to the news editors, the research concluded: "Therefore, this paper pr oposes a method for the mechanical resonance suppression of the high-speed paral lel robot based on the fractional order disturbance observer. And the proposed m ethod can be applied to other mechatronic device including flexible transmission shaft system."
Tianjin UniversityTianjinPeople's Re public of ChinaAsiaEmerging TechnologiesMachine LearningRobotRobotics
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