Flexible operation arm elastic vibration self-disturbance rejection control device and method

Abstract

The invention discloses a flexible operation arm elastic vibration self-disturbance rejection control device and method. The control device comprises a flexible operation arm, a tail end load, an image acquisition device, a positioning base, a motor transmission device, a motor driver, a bolt connection system, a motion control card, an elastic vibration self-interference rejection controller, a frequency operation module, a signal processing module I, a signal processing module II, a signal acquisition device I and a signal acquisition device II, and a frequency signal of the flexible operation arm in the operation process is acquired in real time on the basis of the frequency calculation module, the elastic vibration self-disturbance rejection controller can change the control signals inreal time to drive the positioning base to move, and then the flexible operation arm moves to a designated position. The invention further discloses a flexible operation arm elastic vibration self-disturbance rejection control method. According to device and method, the boundary effect of the flexible operation arm in the operation process can be fully considered, the self-disturbance rejection control of the elastic vibration of the flexible operation arm is realized, and the method has the advantages of being simple in control structure, high in robustness and the like.

Description

Technical field [0001] The invention relates to the technical field of robot flexible operating arm control, in particular to a flexible operating arm elastic vibration auto-disturbance control device and method. Background technique [0002] At present, in the electronic packaging industry assembly line, space robot equipment mainly assembled with mechanical operating arms is everywhere. The structure of these devices is in the form of bottom positioning base with end effector, such as placement machine, solder paste Printing presses, glue dispensers, etc. With the rapid development of the national economy, modern integrated circuit packaging operations require the response speed of mechanical systems to become faster and faster, and the degree of integration is getting higher and higher. Traditional rigid operating arms have been unable to meet the requirements of this development. [0003] In recent years, with the in-depth research of flexible multi-body dynamics theory and th...

AI Technical Summary

Problems solved by technology

The closed-loop feedback control system considering the elastic vibration of the flexible manipulator requires an additional active control system, which will lead to a complex structure of the overall system and increase the cost of the whole machine. Many scholars have studied the feedforward control method of mechanical elastic vibration

[0005] For example, the invention patent with the Chinese patent number CN201510916217.1 discloses a crane anti-sway control method based on the positive and negative POSICAST input shaping method, and uses the input shaping method to construct a feedforward controller to realize the anti-sway control of the crane. The advantages of this method are There is no need for measuring sensors for closed-loop feedback, which simplifies the system structure, but this method does not consider the influence of the load on the vibration characteristic parameters of the crane system during the operation process

[0006] Another example is the Chinese Patent No. CN201710975489.8, which discloses a method for suppressing residual vibration at the end of a robot joint based on an input shaper. The input shaping method is used to suppress the residual vibration at the end of a robot joint, but this method also does not consider Influence of terminal load mass and boundary effect on characteristic parameters of robot joint vibration

[0007] However, the flexible manipulator of the robot has variable load conditions in the actual operation process. In addition, the assembly force between the root of the flexible manipulator and the positioning base may change under long-term operation. These will change the boundary conditions of the flexible manipulator, and then change its The characteristic parameters such as its own modal frequency lead to the failure of the feed-forward vibration controller designed based on the input shaping method in advance

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