Robot vibration suppression method

A robot and robot system technology, applied in the field of robotics, can solve the problems of high cost, affecting the stability time and positioning accuracy, residual vibration at the end of the robot, etc., achieve low cost, wide application range, and avoid the effect of interface parameter input

Inactive Publication Date: 2021-04-02
法奥意威(苏州)机器人系统有限公司
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  • Claims
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Problems solved by technology

[0002] A robot is a common name for an automatic control machine (Robot). An automatic control machine includes all machinery that simulates human behavior or thoughts and simulates other creatures (such as robot dogs, robot cats, etc.). It will cause residual vibration at the end of the robot, which will affect the stability time and positioning accuracy. There are three main types of traditional robot vibration suppression methods: optimizing the connection mechanism, feedback control method and feedforward control method; optimizing the connection mechanism method requires optimizing the processing technology of parts; feedback The control method requires additional measurement sensors, and the cost is high

Method used

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Embodiment Construction

[0024] In an embodiment of the present invention, a method for suppressing vibration of a robot includes the following steps:

[0025] S1: Obtain the vibration frequency ω and damping coefficient ζ of the robot system through mechanical characteristic analysis;

[0026] S2: The instruction generated by the robot trajectory planner is convoluted with the pulse signal input to the shaper to generate an instruction after shaping, and store the generated instruction;

[0027] S3: After shaping, the instruction is input to the adaptive notch filter, which is also used to perform anti-interference processing on the pulse signal and generate the target signal;

[0028] S4: The output signal of the adaptive notch filter is used as the command of the servo system to control the movement of the robot.

[0029] Preferably: the input shaper includes but not limited to ZV input shaper and ZVD input shaper, wherein,

[0030] The ZV input shaper formula is as follows:

[0031]

[0032]...

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Abstract

The invention relates to the technical field of robots, and discloses a robot vibration suppression method. The robot vibration suppression method comprises the following steps that S1, a robot systemvibration frequency and a damping coefficient are obtained through mechanical characteristic analysis; S2, a robot trajectory planner generates an instruction and inputs a shaper pulse signal for convolution to generate a shaped instruction; S3, the shaped instruction is input into a self-adaptive notch filter; and S4, an output signal of the self-adaptive notch filter serves as a servo system instruction, and the robot is controlled to move. The method is low in cost, simple and easy to use, robot vibration suppression is achieved through self-adaptive adjustment, complex interface parameterinput is avoided, the method has the advantages of being sensitive in response, small in error and the like, has a certain market popularization prospect and application value, is simpler and more convenient, is wider in application range, is suitable for actual vibration suppression of different types of robots and can be widely popularized and used.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for suppressing robot vibrations. Background technique [0002] A robot is a common name for an automatic control machine (Robot). An automatic control machine includes all machinery that simulates human behavior or thoughts and simulates other creatures (such as robot dogs, robot cats, etc.). It will cause residual vibration at the end of the robot, which will affect the stability time and positioning accuracy. There are three main types of traditional robot vibration suppression methods: optimizing the connection mechanism, feedback control method and feedforward control method; optimizing the connection mechanism method requires optimizing the processing technology of parts; feedback The control method requires additional measurement sensors, and the cost is relatively high. Therefore, those skilled in the art provide a method for robot vibration suppression to solve ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 丁磊姚庭王超高加超史琦亮赵进奇
Owner 法奥意威(苏州)机器人系统有限公司
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