A Joint Vibration Suppression Method Based on Iterative Learning Control and Input Shaping Technique

A technology of iterative learning control and input shaping, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as too many assumptions, difficult engineering, cumbersome and complicated solution process, etc.

Active Publication Date: 2021-06-08
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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  • A Joint Vibration Suppression Method Based on Iterative Learning Control and Input Shaping Technique
  • A Joint Vibration Suppression Method Based on Iterative Learning Control and Input Shaping Technique
  • A Joint Vibration Suppression Method Based on Iterative Learning Control and Input Shaping Technique

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[0046] 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.

[0047] 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 present invention proposes a joint vibration suppression method based on iterative learning control and input shaping technology, including: selecting a given repetitive trajectory of the industrial robot system, and displacing the industrial robot system with a displacement sensor; applying system parameters to the set On the fixed input shaper, the input shaper is convolved with the reference trajectory, and the convolution calculation result is used as the input of the industrial robot system, and the industrial robot system is operated to obtain the system output result; the system output result and the reference trajectory are made The trajectory error is obtained by calculating the trajectory error, and whether the iteration is completed is judged according to the trajectory error threshold; the trajectory error is used as the update parameter of the control law in the iterative learning control, and the system parameters are updated through the control law; the above steps are repeated until the preset error threshold is met. Vibration suppression control for industrial robot systems. The invention can greatly reduce the vibration amplitude and significantly shorten the vibration setting time, retain the dynamic characteristics of the system, and realize the fast vibration-free 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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Patent Type & Authority Patents(China)
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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