Transfer error compensation control method for flexible joint containing harmonic reducer
A harmonic reducer, flexible joint technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problem of inability to eliminate the adverse effects of hysteresis, and achieve the effect of fast learning speed, simple structure and strong generalization ability
Active Publication Date: 2020-08-11
GUILIN UNIV OF ELECTRONIC TECH
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[0004] What the present invention aims to solve is the problem that the existing harmonic reducer joint control method cannot eliminate the adverse effects caused by hysteresis, and provides a transmission error compensation control method containing a harmonic reducer flexible joint to improve joint transmission accuracy
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[0020] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in combination with specific examples and with reference to the accompanying drawings.
[0021] The ideal reducer input and output is a linear relationship, but due to the limitations of manufacturing and processing technology, especially the domestic harmonic reducer joints, it shows a special nonlinear relationship. The harmonic reducer exhibits two characteristics of hysteresis: 1) In the same forward and reverse motion, at t 1 and t 2 At different times, the same input signal T(t 1 ) = T(t 2 ), corresponding to different outputs, namely θ(t 1 )≠θ(t 2 ); 2) The output of reducer hysteresis is not only related to the current input value, but also related to the historical input value. During the operation of the harmonic reducer, the same control input signal has different output in forward travel and rev...
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The invention discloses a transfer error compensation control method for a flexible joint containing a harmonic reducer. A hysteretic hybrid model having a cascaded structure and based on a quasi-hysteretic operator and an online sequential extreme learning machine (OS-ELM) is designed and used for describing special hysteretic nonlinear characteristics of the harmonic reducer flexible joint; model parameter learning adopts recursive parameter updating, and dynamic changes of hysteresis characteristics of the flexible joint under different operating states can be captured online; and the hysteretic hybrid model of the cascaded structure predicts an output angle, the output angle predicted by the hysteretic hybrid model is subtracted from an ideal output angle of the harmonic reducer flexible joint, then the difference is multiplied by a reduction ratio, through feed forward compensation control, compensation control of the high-speed end of the flexible joint driving a servo motor is achieved, and the transfer precision of the flexible joint is improved. A system can constitute an embedded system, the computation burden is small, and from the angle of information, through compensation control, the problem of bottlenecks of the reducer in the flexible joint due to a manufacturing and processing technology are solved.
Description
technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a transmission error compensation control method with a flexible joint of a harmonic reducer. Background technique [0002] With the development of intelligent manufacturing technology, the research on flexible joints of industrial robots has become one of the hot spots. At present, the reducer of domestic industrial robots has not made a complete breakthrough in some core technologies, which restricts the development of high-precision robot industry, which leads to the relatively slow development of high-precision robot industry in my country's high-end equipment manufacturing field. In industrial robots, flexible joints containing harmonic reducers exhibit a non-smooth, strong nonlinear hysteresis characteristic, which inevitably affects the transmission accuracy of flexible joints. In addition to improving the precision of reducer joints through manufacturing...
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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/163
Inventor 党选举黄佳司亚刘开迪莫太平李晓原翰玫伍锡如张向文
Owner GUILIN UNIV OF ELECTRONIC TECH