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Wear-resistant joint vibration suppression method for self-adaptive input shaping

A technology of input shaping and vibration suppression, which is applied in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve problems such as unsatisfactory vibration suppression effects, impossibility of pulse sequence optimization, and delay in corresponding time, so as to improve trajectory tracking accuracy, Response time shortening and vibration suppression effect

Inactive Publication Date: 2021-12-31
SHENZHEN UNIV
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Problems solved by technology

[0006] In view of the deficiencies of the prior art, the purpose of the present invention is to provide a wear-resistant joint vibration suppression method for adaptive input shaping, which aims to solve the problem that the prior art cannot optimize the pulse sequence and cannot achieve a satisfactory vibration suppression effect , and the corresponding time of the system is delayed, which reduces the technical problem of the speed of the robot

Method used

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Embodiment 1

[0043] This specific embodiment is a wear-resistant joint vibration suppression method for adaptive input shaping, and its steps are as follows:

[0044] Step 1: First, carry out vibration analysis. Since the offset and deformation of the connecting rod on the robot arm are superimposed, it is concluded that: (x,t)=xF(t)+y(x,t);

[0045] Step 2: Obtain the natural frequency of the system n and damping coefficient ;

[0046] Step 3: Establish a mathematical model about the linear programming problem of the input shaper pulse amplitude parameter:

[0047] 1) Establish the closed-loop transfer function of the system: (s) = ;

[0048] 2) Introduce the input shaper pulse so that the impulse response of the system is:

[0049] y(t) = sin[ ];

[0050] Step 4: The input shaper adopts a two-pulse sequence, denoted as (C 1 , t 1 ) and (C 2 , t 2 ), let t 1 =0,t 2 = T, computes the C of the input shaper 1 、C 2 and T:

[0051] 1) The residual error of a seco...

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Abstract

The invention discloses a wear-resistant joint vibration suppression method for self-adaptive input shaping, and aims to solve the technical problems that in the prior art, a pulse sequence cannot be optimized, a satisfactory vibration suppression effect cannot be achieved, the corresponding time of a system is delayed, and the speed of a robot is reduced. The method comprises the following steps: step 1, firstly carrying out vibration analysis; step 2, obtaining the inherent frequency n and the damping coefficient of the system; and step 3, establishing a mathematical model about the input shaper pulse amplitude parameter linear programming problem. According to the method, the pulse sequence is optimized, the residual vibration is effectively eliminated, an input shaper formed by one pulse sequence is utilized to carry out convolution with a system reference command, then the shaped command is used as the reference input of a subsequent linear system, and the system vibration brought by a second pulse in the shaped command can offset the system vibration brought by the previous pulse, so that the effect of vibration suppression is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot vibration control, and in particular relates to a wear-resistant joint vibration suppression method for adaptive input shaping. Background technique [0002] Robots assist or even replace humans to complete dangerous, heavy, and complicated tasks, and improve work efficiency and quality. Therefore, they are gradually used in many fields, and robots will inevitably have vibration problems in the joints, which will affect the control accuracy of robots. [0003] At present, the invention patent with the patent number CN201710975489.8 discloses a method for suppressing residual vibration at the end of a robot joint based on an input shaper, including the following steps: Step 1: Obtain the undamped natural frequency ω0 and damping ratio ζ of the robot system; Step 2 : Establish a linear programming mathematical model about the input shaper pulse amplitude parameters; Step 3: Use the Lagrange multiplier...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1602B25J19/0091
Inventor 潘剑飞杨桂林张驰王冲冲王璨
Owner SHENZHEN UNIV
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