Method and device for vibration compensation of mechanical arm based on hybrid control

A vibration compensation and hybrid control technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of large physical loss, stability and accuracy of the manipulator, and achieve stability and self-improvement. Adaptability and response speed, the effect of improving the effect

Active Publication Date: 2021-03-16
北京蒂斯科技有限公司
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Problems solved by technology

[0005] To this end, the embodiments of the present invention provide a method and device for vibration compensation of a mechanical arm based on hybrid control to solve the problem in the prior art that the mechanical arm is prone to vibration caused by its own characteristics or external force interference. The stability and accuracy of the task cannot be guaranteed, and the problem of large physical loss

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  • Method and device for vibration compensation of mechanical arm based on hybrid control
  • Method and device for vibration compensation of mechanical arm based on hybrid control
  • Method and device for vibration compensation of mechanical arm based on hybrid control

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Embodiment Construction

[0056] The implementation mode of the present invention is illustrated by specific specific examples below, and those who are familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this description. Obviously, the described embodiments are a part of the present invention. , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0057] see figure 1 A flowchart of a hybrid control-based vibration compensation method for a mechanical arm provided in Embodiment 1 of the present invention, including:

[0058] S1. Obtain the first vibration control amount of the pre-established mechanical arm vibration feed-forward controller;

[0059] S2. Obtain the vibration signal of the current mechanical arm collected by the sensor, an...

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Abstract

The embodiment of the invention discloses a mechanical arm vibration compensation method and device based on hybrid control. The mechanical arm vibration compensation method comprises the steps that afirst vibration control quantity of a pre-established mechanical arm vibration feedforward controller is obtained; a current mechanical arm vibration signal collected by a sensor is obtained, and iscombined with a preset vibration signal expected value to be input into a pre-established mechanical arm vibration feedback compensation controller, and a second vibration control quantity is obtained; and the first vibration control quantity and the second vibration control quantity are calculated through a weighting algorithm, and a vibration control quantity after mechanical arm vibration compensation is obtained. The mechanical arm vibration feedforward controller is adopted, controller parameters are automatically adjusted, and the self-adaptive capacity and the response speed of the feedforward controller are improved; and feedback compensation is carried out on mechanical arm vibration, the robustness and adaptability under system parameter changes and external interference are guaranteed, the control method has certain learning capacity, and the complex problem can be solved under the condition that an object model is not constructed.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of mechanical arm vibration, and in particular to a method and device for compensating mechanical arm vibration based on hybrid control. Background technique [0002] With the rapid development of industrial technology, industrial robots are used in various fields, not only play an important role in heavy industry, but also play an indispensable role in some light industry and fine production industries, which also requires Industrial robots have high reliability and stability, that is, while completing specified tasks, they can ensure that the results produced can meet the basic indicators. When the industrial robot is working, it mainly completes the task through its robot arm to perform specified operations according to the relevant instructions. Therefore, the effect of the robot to complete the task mainly depends on the control of the working state of the robot arm. [0003] The ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/161B25J9/1628
Inventor 王兆国徐丽媛
Owner 北京蒂斯科技有限公司
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