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Industrial robot vibration suppression method

An industrial robot and vibration suppression technology, which is applied in the field of robotics, can solve problems such as increasing the energy consumption burden of robots, affecting robot motion, and increasing costs, and achieve the effects of reducing robot costs and production line system costs, avoiding continuous impact, and improving work efficiency.

Active Publication Date: 2019-05-24
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

[0004] The problem to be solved by the present invention is: in the existing vibration suppression method for robots, the use of peripherals increases the energy consumption burden of the robot and affects the movement of the robot, and the use of control algorithms requires additional detection sensors, which increases costs and is complicated to set up

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Embodiment Construction

[0047]The purpose of the present invention is to provide a method for vibration suppression of industrial robots, by recording the given position and the actual position information fed back by the encoder by the control system in the process of recording the robot's action, and calculating the vibration suppression value according to the designed vibration suppression system The position compensation amount and the speed compensation amount, and finally add the position compensation amount to the given position and add the speed compensation amount by using the speed feedforward interface to realize the vibration suppression of the robot.

[0048] Hereinafter, a robot vibration suppression system according to an embodiment of the present invention will be described with reference to the drawings. figure 1 A configuration diagram showing a robot vibration suppression system according to an embodiment of the present invention.

[0049] The motion kernel performs kinematics plan...

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Abstract

An industrial robot vibration suppression method includes recording the given position issued from a control system and actual position information fed by an encoder during moving of a robot, calculating position compensation and speed compensation according to the deviation value between the given position and the feedback position, providing the position compensation to the given position, providing the speed compensation through a speed feed-forward interface, thereby realizing vibration suppression to the robot. According to the method, the position encoder of the industrial robot is useddirectly, external sensors are omitted, and thus, optimization cost is saved, data error caused by arrangement of peripheral devices is avoided. The method cannot only solve the problem about vibration in action of the robot but eliminate vibration in positioning. The position compensation and the speed compensation can be reused if the moving track of the robot does not change since the vibrationsuppression compensation is acquired by study, and accordingly, study on vibration suppression can be omitted.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to industrial robots, and relates to a vibration suppression method for industrial robots. Background technique [0002] Vibration suppression of industrial robots refers to the control method of vibration during robot movement. The vibration suppression of the robot can be carried out from two aspects: the mechanical structure and the control algorithm. The mechanical structure optimization of the robot can be realized by increasing the stiffness of the mechanical structure and the damping of the mechanical system, but this will increase the overall mass of the mechanical system, increase the energy consumption of the robot system, and easily affect the response speed of the system. This method cannot fundamentally solve the vibration problem of the robot. Robot control algorithms generally use the kinematics model or dynamics model of the robot to improve the effect of vibration suppre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/02G05B13/04
Inventor 张冶李松洋王杰高
Owner NANJING ESTUN ROBOTICS CO LTD
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