Vibration suppression method of flexible mechanical arm based on trajectory segmentation optimization

A flexible robotic arm and vibration suppression technology, which is applied in design optimization/simulation, CAD numerical modeling, geometric CAD, etc., can solve the problems of delay characteristics and poor precision, and achieve good vibration suppression effect, good precision, and track The accuracy of the middle section maintains a good effect

Pending Publication Date: 2020-04-21
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

[0009] In order to overcome the defects of the time-delay characteristics and poor precision of the existing conventional vibration suppression algorithms for industrial robots, the present invention proposes a vibration suppression method for flexible manipulators based on trajectory segmentation optimization. In the case of known original trajectory Next, by segme

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  • Vibration suppression method of flexible mechanical arm based on trajectory segmentation optimization
  • Vibration suppression method of flexible mechanical arm based on trajectory segmentation optimization
  • Vibration suppression method of flexible mechanical arm based on trajectory segmentation optimization

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Embodiment Construction

[0035] In order to better understand the technical features, technical contents and technical effects of the present invention, the method of the present invention will be further described in detail below in conjunction with the embodiments and accompanying drawings.

[0036] Such as figure 1 with figure 2 As shown, the vibration suppression method of the flexible manipulator based on trajectory segmentation optimization proposed by the present invention comprises the following steps:

[0037] Step 1. Obtain the undamped natural frequency ω of the single-joint flexible manipulator system n and the damping ratio ξ, the transfer function of the second-order system is obtained as:

[0038]

[0039] According to the principle of the conventional vibration suppression method, the frequency domain expression of the method can be obtained as:

[0040]

[0041] in t 2 =T,t 3 =2T, through the expression, we can know that the final time delay brought by this conventional ...

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Abstract

The invention discloses a vibration suppression method of a flexible mechanical arm based on trajectory segmentation optimization. The approximate delay amount of the conventional vibration suppression method is derived based on the characteristics of the conventional vibration suppression method; the approximate delay compensation amount of the original track is deduced, the original track and the non-delay track are optimized in a segmented mode and then combined through cubic curve transition optimization, and finally the optimized track which is good in vibration suppression effect, free of delay and good in track middle section precision is achieved. According to the method, the vibration suppression function of the flexible mechanical arm is achieved, the characteristics of zero delay and good track middle section precision keeping are achieved, and parameters in the method can be modified and adjusted according to actual working conditions and requirements so as to meet requirements.

Description

technical field [0001] The invention relates to a vibration suppression method for a flexible mechanical arm of an industrial robot, in particular to a vibration suppression method for a flexible mechanical arm based on trajectory segmentation optimization. Background technique [0002] Modern industry uses more and more industrial robots, and at the same time has higher and higher performance requirements for industrial robots, and the performance of an industrial robot includes speed, accuracy, etc., due to the complex flexibility of the mechanical arm structure of industrial robots Factors, the high-speed operation of industrial robots is easy to excite the vibration of the flexible manipulator of the industrial robot, thus affecting the accuracy of the industrial robot, and the current traditional vibration suppression method of the flexible manipulator is difficult to ensure the accuracy while ensuring the vibration suppression effect. In this context, how to make the f...

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Application Information

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IPC IPC(8): G06F30/17G06F30/20G06F111/10
CPCY02T90/00
Inventor 陈亚雄王继虎王杰高
Owner NANJING ESTUN ROBOTICS CO LTD
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