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Vibration suppression method of flexible multi-joint robot and vibration control system of flexible multi-joint robot

A multi-joint robot and vibration suppression technology, applied in the field of robotics, can solve problems such as vibration, avoid negative effects, avoid joint life shortening, and improve trajectory tracking accuracy

Inactive Publication Date: 2019-01-15
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a vibration suppression method for a flexible multi-joint robot in view of the defect that the body of the flexible multi-joint robot vibrates due to flexibility in the prior art

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  • Vibration suppression method of flexible multi-joint robot and vibration control system of flexible multi-joint robot

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0054] The purpose of the present invention is to propose a method for suppressing the vibration of a flexible multi-joint robot, which remodels the robot dynamically by means of torque vibration suppression and joint torque optimization, and solves the problem of flexibility by compensating for the flexible deformation of the robot and adjusting the motion posture of the robot. Body vibration problem of multi-joint robot.

[0055] first reference figure 1 with figure 2 , figure 1 It is a schematic diagram of the joint coordinate system of the flexible robot of the present inventio...

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Abstract

The invention relates to the technical field of robots, in particular to a vibration suppression method of a flexible multi-joint robot. The vibration suppression method of the flexible multi-joint robot comprises the following steps that motion data of joints of the flexible robot are collected in time; according to the collected motion data of the joints, a dynamic equation of the rigid body andjoint deformation of the robot and a dynamic equation of an expected trajectory of the robot tail end are established, and a required joint moment value is obtained by solving the inverse dynamic calculation; according to a flexible expected damping matrix of a robot body, joint driving moment is optimized to obtain an optimized joint moment value; and according to the optimized joint driving moment value, joint moment control is carried out so as to suppress the flexible deformation vibration of the robot. The vibration suppression method of the flexible multi-joint robot has the beneficialeffects of suppressing the flexible vibration of the robot body and improving the trajectory tracking precision of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically, to a vibration suppression method and system for a flexible multi-joint robot. Background technique [0002] In recent years, intelligent robots with light weight, heavy load, high speed and high load-to-weight ratio have become the needs of the times. While the flexible multi-joints produced by the design concept of lightweight mechanisms provide efficient and flexible control mechanisms, the flexible deformation of joints and connecting rods also needs to be considered in motion control. For flexible mechanisms, the terminal posture is the joint The result of the joint action of rotation and flexible deformation. The body vibration caused by the flexibility of the robot will greatly shorten the life of the key components of the robot and reduce the trajectory tracking accuracy. Existing vibration suppression technologies focus on optimizing the smoothness of the robot’s ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1628
Inventor 邹风山徐方杨奇峰孙若怀刘晓帆梁亮
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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