Scara robot joint disturbance compensation method

Abstract

The invention provides a scara robot joint disturbance compensation method. The method comprises the steps that a scara robot joint motor end lagrangian dynamics equation is established; angular velocity sensors are installed at the output ends of a first joint and a second joint of a scara robot respectively, and the rotating speed and displacement of the output ends of two joint speed reducers are obtained according to the two angular velocity sensors; a motor end disturbance compensation item is calculated; the error between the current joint position and the expected joint position is obtained; the position error is sent to a compensation gain ILC module, and compensation gain is updated; and multiplication is conducted on the compensation gain corresponding to a carrier cycle and the calculated torque compensation amount, and the compensation gain is compensated into a torque ring. According to the method, the disturbance compensation amount is calculated through a kinetic model; the disturbance compensation effect is further optimized by multiplying the compensation amount by the variable compensation gain; the compensation gain is optimized through ILC iterative learning, and the learning adaptive capacity is achieved for load changes.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a joint disturbance compensation method of a scara robot. Background technique [0002] In recent years, with the gradual improvement of industrial automation, the application fields of industrial robots have continued to develop from automobiles, electronic appliances, machinery and other industries to other application fields, and have become an indispensable part of many industrial occasions. Among them, scara robots are used in 3C industry has been widely used. The high tempo of the 3C industry requires scara control to be more stable, faster, and more accurate. At present, the first joint and the second joint of scara mostly use a motor plus harmonic deceleration structure, which introduces disturbances such as joint flexibility and friction, which reduces the robot’s performance. control precision. [0003] Although some control methods can solve these problems ...

AI Technical Summary

Problems solved by technology

The high tempo of the 3C industry requires scara to be controlled more stably, faster, and more accurately. At present, the first joint and the second joint of scara mostly use a motor plus harmonic deceleration structure, which introduces disturbances such as joint flexibility and friction, which reduces the robot’s performance. control accuracy

[0004] 1) In the robot controller, the disturbance compensation is realized through algorithms such as the observer, and the convergence time of the observer is long, which affects the rapidity of disturbance compensation

[0005] 2) It is difficult to model the friction force of the main disturbance item, and it is difficult to obtain accurate friction force, which affects the accuracy of disturbance compensation

[0006] 3) The load of the robot changes in real time, and the constant gain disturbance compensation is not learning

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