Method for combined inhibition of vibration based on iterative learning control and input shaping technology

A technology of iterative learning control and input shaping, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to deal with the time-varying characteristics of system parameters, tedious and complicated solution process, too many assumptions, etc. Achieve the effect of retaining dynamic characteristics, overcoming time-varying characteristics, and simple methods

Active Publication Date: 2018-07-10
珞石(北京)科技有限公司
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Problems solved by technology

[0008] The main defects and deficiencies of the above-mentioned technical methods are: they cannot handle the time-varying characteristics of system parameters, there are too many assumptions, the solution process is cumbersome and complicated, and it is difficult to engineer

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  • Method for combined inhibition of vibration based on iterative learning control and input shaping technology
  • Method for combined inhibition of vibration based on iterative learning control and input shaping technology
  • Method for combined inhibition of vibration based on iterative learning control and input shaping technology

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Embodiment Construction

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0045] The six-axis series industrial robot moves in different trajectories, and the system parameters of the robot change in real time, which requires the robot to quickly self-tune the system parameters to achieve the effect of vibration suppression. In order to solve the above problems, the present invention proposes a joint vibration suppression method based on iterative learning control and input shaping technology, which can achieve the effect of vibration suppression and is suitable for industrial robot systems with repetit...

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Abstract

The invention proposes a method for the combined inhibition of vibration based on iterative learning control and the input shaping technology, and the method comprises the steps: selecting a given repeated track of an industrial robot system, and arranging a displacement sensor for the industrial robot system; enabling system parameters to act on a set input shaper, carrying out the convolutionalcalculation of the input shaper and a reference track, taking a convolutional calculation result as the input of the industrial robot system, operating the industrial robot system, and obtaining a system output result; solving the difference between the system output result and the reference track, obtaining a tracking error, and judging whether to complete the iteration or not according to the tracking error; taking the tracking error as an updating parameter of a control law in the iterative learning control, and updating the system parameters through the control law; repeatedly carrying outthe above steps till a preset error threshold value is met, and carrying out the control of the vibration inhibition of the industrial robot system. The method can greatly reduce the amplitude of thevibration, remarkably shortens the setting time of the vibration, guarantees the dynamic performances of a system, and achieves the quick no-vibration response of the system.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a joint vibration suppression method based on iterative learning control and input shaping technology. Background technique [0002] In the field of industrial robots, due to the structural flexibility of the robot (joint flexibility and connecting rod flexibility), the terminal vibration of the robot is extremely complicated, which will greatly reduce the trajectory tracking accuracy and positioning accuracy of the system, and affect production efficiency. Regarding the terminal vibration suppression of the robot, due to the many vibration influencing factors and the deep coupling of nonlinear phenomena, the analysis of vibration suppression is extremely difficult. [0003] The current method of vibration suppression for robot terminals: [0004] 1. Regarding the passive control category, such as changing the structure (stiffness and damping) design, or adding a mecha...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/0265G05B13/042
Inventor 赵磊毋琦曹华
Owner 珞石(北京)科技有限公司
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