Device and method for controlling vibration during motion control carried out on flexible workpieces by robots

Abstract

The invention discloses a device and method for controlling vibration during motion control carried out on flexible workpieces by robots. The device comprises a data processing module, a motion test module and a signal acquisition module, wherein the data processing module adopts an industrial personal computer and comprises a man-machine interaction unit, a real-time control unit and a vibrationsuppression algorithm realization unit; the motion test module comprises a six degrees of freedom series joint type robot and a flexible workpiece; the flexible workpiece is mounted on a flange plateat the tail end of the robot; the signal acquisition module comprises a three-dimensional acceleration sensor, a switching power supply and a data acquisition unit; and the three-dimensional acceleration sensor is mounted at the tail end of the flexible workpiece. The device and method are capable of effectively solving the robot track planning problem under the working condition of fixed task time length, effectively suppressing the residual vibration of the flexible workpieces controlled by the robots and realizing accurate positioning for the workpieces.

Description

technical field [0001] The invention relates to the field of vibration control of industrial robots, in particular to a vibration control device and method when a robot manipulates the movement of a flexible workpiece. Background technique [0002] The scene where the robot manipulates the flexible load is very common in the industrial production line, and when the robot manipulates the flexible load, vibration will inevitably occur. In order to improve production efficiency and production quality, it is very important to solve the problem of residual vibration of the flexible load of. Moreover, the actual production line often has strict requirements on the running time of the robot, and the traditional speed planning method cannot predetermine the total running time of the planned trajectory. However, in the method of trajectory planning based on dynamic filtering, the only design parameter of this method is the duration parameter of the filter. Under the constraints of ...

AI Technical Summary

Problems solved by technology

Moreover, in the actual production line, there are often strict requirements on the running time of the robot, and the traditional speed planning method cannot predetermine the total running time of the planned trajectory.

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