Method and device for suppressing residual shake of flexible joint manipulator
A technology of jitter suppression and flexible joints, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to adapt to the natural frequency and damping of time-varying systems, limited vibration suppression effect, etc., and achieve good residual jitter suppression effect.
Active Publication Date: 2022-02-18
SIASUN CO LTD
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However, the traditional input shaping vibration suppression algorithm cannot adapt to the natural frequency and damping of the time-varying system, so the vibration suppression effect is limited
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[0052] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.
[0053] The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements / members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.
[0054] The terms "first", "second", ... etc. used herein do not specifically refer to a sequence or order, nor are they...
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The present application provides a method and device for suppressing residual jitter of a flexible joint manipulator. The method for suppressing residual jitter includes the following steps: calculating the dynamic parameters of the manipulator, wherein the dynamic parameters include the natural frequency and structural damping of each joint of the manipulator ; Calculate the pulse parameters of the time-varying input shaper according to the dynamic parameters, wherein the pulse parameters include pulse amplitude and time; the shaping pulse and the command signal of the time-varying input shaper are convoluted to obtain the convoluted signal; The convoluted signal is input into the second-order system as the input signal of the second-order system, and the output response with zero residual jitter is obtained, which completes the suppression of the residual jitter of the flexible joint manipulator. The application can adapt to the natural frequency and damping of the time-varying system, complete the suppression of the residual vibration of the flexible joint manipulator, and has a good residual vibration suppression effect.
Description
technical field [0001] The present application belongs to the technical field of mechanical arm control, and in particular relates to a method and a suppression device for suppressing residual vibration of a flexible joint mechanical arm. Background technique [0002] The lightweight collaborative manipulator relies on the harmonic reducer for transmission, and the stiffness of the harmonic reducer is low, resulting in the flexibility of the joints of the manipulator. Especially when the robot arm starts and stops, the residual vibration caused by the flexible joint is very obvious. [0003] In the prior art, people usually use an open-loop vibration suppression algorithm to suppress residual jitter. Input shaping is an effective open-loop vibration suppression algorithm. The algorithm is designed to convolve a series of pulse signals with a reference signal to generate a shaped signal. The shaping signal is used as the feed-forward control signal of the system, which can ...
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IPC IPC(8): B25J9/16
CPCB25J9/1635B25J9/1607
Inventor 杨跞汪晓姗王成刚周飞许楠
Owner SIASUN CO LTD