Robot vibration suppression method based on acceleration sensor

Abstract

The invention provides a robot vibration suppression method based on an acceleration sensor. The robot vibration suppression method comprises the steps that robot track pre-operation is executed, specifically, the three-shaft acceleration sensor is mounted at the tail end of a robot, and vibration signals in three directions in the mounting position during pre-operation of the robot are collected; vibration parameters of the industrial robot are extracted according to the collected vibration signals; an input forming device is designed according to the obtained vibration parameters; and the input forming device acts on the operation track of the industrial robot so as to correct the operation track of the industrial robot through the input forming device. Through the method of applying input shaping to the industrial robot, the problems that input shaping parameters are difficult to obtain, and shafts move asynchronously due to the input shaping time lag are solved, vibration of the industrial robot can be suppressed, and track precision and positioning precision are improved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot vibration suppression method based on an acceleration sensor. Background technique [0002] Industrial robots are playing an increasingly important role in industrial sites. Restricted by technology, the joint deceleration mechanism and connecting rod of industrial robots have different degrees of flexibility, especially in high-speed and heavy-load conditions. Flexibility easily leads to vibration, and the existence of vibration will not only reduce the trajectory tracking accuracy and positioning accuracy of the robot, but also reduce the service life of key components. Suppressing the vibration of the robot has important economic benefits and practical value. [0003] The vibration suppression of industrial robots is mostly carried out from two levels, one is structural optimization, and the other is control optimization. Structural optimization improves t...

AI Technical Summary

Problems solved by technology

[0004] The patent "A Vibration Control of Flexible Manipulator Based on Vibration Observer" establishes the mathematical model of the flexible manipulator, obtains the vibration signal through the vibration observer, and uses the state feedback integral controller to suppress the residual vibration at the end of the flexible manipulator. This method relies on the mechanical The mathematical model of the arm is suitable for simple mechanical arms such as flexible beams, but it is difficult to apply to objects with very complex models such as industrial robots

The patent "vibration reduction control robot system" uses a separate robot vibration reduction control device, which receives the action instructions sent by the robot control device and the speed and acceleration feedback information collected by the sensor on the robot, and iteratively learns to obtain the corrected action instructions. The method requires a separate vibration reduction control device, and the cost is relatively high. Because of the iterative learning method, multiple iterations are required to obtain an ideal correction value, and the early stage debugging is troublesome.

In addition to the above patents, many papers use the method of input shaping to suppress the residual vibration of the system. This method mainly applies convolution to joint commands. Simple input shaping will cause command time lag. For multi-joint industrial robots, the joint commands will be out of sync. Although vibration can be suppressed, it may reduce the trajectory accuracy during operation

In addition, the input shaping technology originated from the linear time-invariant system. When it is applied to the nonlinear or time-varying system, the parameters are difficult to determine, and the industrial robot is a typical nonlinear time-varying system. must be difficult

[0005] Therefore, existing industrial robot vibration suppression methods are somewhat deficient and difficult to apply to actual industrial robots

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