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Vibration suppression method and device for a joint servo system of a flexible robot

A technology of robot joints and servo systems, which is applied in the fields of motor vibration suppression control, control system, general control strategy, etc. The effect of dynamic response

Active Publication Date: 2021-04-02
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the mechanical arm of an industrial robot moves in space, the equivalent inertia of each joint is constantly changing, causing its resonant frequency to change accordingly. When the notch frequency of the notch filter is inconsistent with the resonant frequency, the Unable to effectively suppress vibration and even cause system instability

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  • Vibration suppression method and device for a joint servo system of a flexible robot
  • Vibration suppression method and device for a joint servo system of a flexible robot
  • Vibration suppression method and device for a joint servo system of a flexible robot

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Embodiment Construction

[0060] 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 combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0061] Such as figure 1 As shown, a vibration suppression device for the joint servo system of a flexible robot includes a position loop controller 1, a speed loop controller 2, a torque loop controller 4 and a flexible robot joint system 5 connected in sequence; it also includes parameter adaptive control The device 3 is connected with the speed loop controller 2, and is used for adaptively adjusting the control paramet...

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Abstract

The invention provides a vibration suppression method and device of a flexible robot joint servo system. The method includes steps: a speed loop controller and a parameter adaptive controller are adopted to replace a speed loop controller in a conventional control system, the parameter adaptive controller is connected with the speed loop controller to perform adaptive adjustment on a control parameter of the speed loop controller and give a feedback to the speed loop controller so that the speed loop controller generates a motor torque signal to drive operation of a joint based on a joint state feedback and a control parameter feedback. According to the method, flexible mechanical vibration can be effectively suppressed, the control parameter can be rapidly adjusted to be matched with a real value when the parameter is not accurate so that it is guaranteed that a control target has good control effect in different operation environments, and vibration suppression and high-speed dynamicresponse are realized.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a vibration suppression method and device for a joint servo system of a flexible robot. Background technique [0002] With the wide application of industrial robots, the control performance requirements of their servo systems also increase. Robotic servo systems face great challenges in terms of responsiveness, precision and stability. Different from the traditional fixed-load rigid servo system, the reducer of the robot joint has obvious flexibility (low stiffness). Due to the coupling of multi-axis motion, the load characteristics of the robot servo system are also more complicated. Therefore, in the servo control of the robot joint, it is easy to Occurrence of position and speed oscillations seriously degrades system performance, damages equipment and even causes staff casualties. [0003] Traditional servo control systems usually include three control links: position ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P23/04H02P23/00B25J17/00B25J19/00
CPCB25J17/00B25J19/00H02P23/0004H02P23/0022H02P23/04
Inventor 肖曦黄宣睿
Owner TSINGHUA UNIV