Method for inhibiting tail-end residual oscillation of four-degree-of-freedom cylindrical coordinate type palletizing robot

A stacking robot and cylindrical coordinate technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of reducing work efficiency, prolonging robot positioning time, residual vibration, etc., achieving easy implementation, improving repeat positioning accuracy and work efficiency, simple and reliable Achieved effect

Active Publication Date: 2017-08-18
CHINA UNIV OF PETROLEUM (EAST CHINA)
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the use of reducers, toothed belts and other devices in the kinematic joints of the robot, and errors in the processing and assembly process, the mechanical body of the robot has different degrees of flexibility, which will have a certain impact on the kinematic performance of the robo

Method used

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  • Method for inhibiting tail-end residual oscillation of four-degree-of-freedom cylindrical coordinate type palletizing robot
  • Method for inhibiting tail-end residual oscillation of four-degree-of-freedom cylindrical coordinate type palletizing robot
  • Method for inhibiting tail-end residual oscillation of four-degree-of-freedom cylindrical coordinate type palletizing robot

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Embodiment Construction

[0033] Such as figure 1 , figure 2 As shown, this embodiment provides a method for suppressing residual vibration at the end of a four-degree-of-freedom cylindrical coordinate palletizing robot. Acceleration sensors are respectively installed on the boom and the end of the four-degree-of-freedom cylindrical coordinate palletizing robot, including the following step:

[0034] Step 1. When the end of the four-degree-of-freedom cylindrical coordinate palletizing robot reaches a certain positioning point, the first to nth compensation moments are applied to the servo motor of the waist rotary joint of the four-degree-of-freedom cylindrical coordinate palletizing robot.

[0035] The expression of compensation torque is F=ga T (t-τ) (1)

[0036] Among them, F is the compensation torque, g is the proportional coefficient of the compensation torque, τ is the time constant of the compensation torque, a T (t) is the measured value of the acceleration sensor installed on the end of ...

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Abstract

The invention discloses a method for inhibiting tail-end residual oscillation of a four-degree-of-freedom cylindrical coordinate type palletizing robot. The method comprises the following steps of: acquiring signals aB(t) and aT(t) of two acceleration sensor at a large arm and a tail end of the four-degree-of-freedom cylindrical coordinate type palletizing robot; performing discrete Fourier transform on aB(t) and aT(t) to obtain aB(j omega) and aT(j omega); performing cut-off frequency calculation on aT(j omega) to obtain cut-off frequency omega c; calculating through aB(j omega), aT(j omega) and omega c to obtain a speed factor s and a position factor p; calculating through s, p and omega c to obtain a parameter for compensating moment of force, thereby obtaining compensated moment of force F; and taking F as a feedforward compensated moment of force of a joint servo motor on the waist of the palletizing robot to inhibit tail-end residual oscillation. The method has the beneficial effects that: compensated moment of force of the servo motor on the waist of the robot is established based on the signals of the acceleration sensors for solving the problem that residual oscillation is easily generated at the tail end during high-speed positioning of the four-degree-of-freedom cylindrical coordinate type palletizing robot, and the parameter for compensating moment of force is quickly optimized through an online setting mode.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for suppressing end residual vibration of a four-degree-of-freedom cylindrical coordinate palletizing robot. Background technique [0002] The four-degree-of-freedom cylindrical coordinate palletizing robot is a structural form commonly used by palletizing robots. The structure includes a waist rotation joint, a terminal rotation joint, a horizontal linear motion joint and a vertical linear motion joint. Each joint is a degree of freedom, and the arm of the robot uses a parallelogram linkage mechanism to realize the horizontal and vertical linear motion of the end of the robot. The four joints of this structure move independently, and there is no coupling relationship. Compared with other structural forms, the control is simpler, and the movement is more efficient and high-speed. However, due to the use of reducers, toothed belts and other devices in the kinematic...

Claims

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Application Information

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IPC IPC(8): B25J19/00
CPCB25J19/0091
Inventor 于清洋黄梁松吕新荣
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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