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Vibration suppression robot using multi-peak input shaping method and control method thereof

A technology for input shaping and robotics, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as the inability to suppress residual oscillation of multi-modal flexible systems, and the mechanical equipment that cannot effectively face multiple motion trajectories. Residual swing, improved control positioning accuracy, strong anti-interference ability

Pending Publication Date: 2022-03-18
陈威
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that the control accuracy of the inventive device is only suitable for single-movement trolleys, and it is difficult to capture the motion parameters of equipment with complex motion trajectories, and the algorithm of input shaping is fixed, so it cannot effectively deal with mechanical equipment with multiple motion trajectories. , also cannot suppress the residual oscillation of the multi-mode flexible system

Method used

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  • Vibration suppression robot using multi-peak input shaping method and control method thereof
  • Vibration suppression robot using multi-peak input shaping method and control method thereof
  • Vibration suppression robot using multi-peak input shaping method and control method thereof

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] S1: Using the automatic processing mode, the user sets the automatic movement setting parameters of the machine body 1 in advance through the integrated display terminal, and the control system converts the automatic movement setting parameters into the movement trajectory of the moving part 2, and sends them in advance according to different movement trajectories Input shaping algorithm instructions, wherein the uniform velocity motion stage corresponds to the secondary system input shaping algorithm, the uniform acceleration motion stage corresponds to the tertiary system input shaping algorithm, and the variable acceleration motion stage corresponds to multiple system input shaping algorithms;

[0046] S2: The trajectory prediction module calculates and simulates the trajectory of the moving part 2 in the shaping stage according to the automatic motion setting parameters and the shaping command, and generates a virtual three-dimensional motion trajectory model in the c...

Embodiment 2

[0048] S1: Using manual processing mode, after the moving part 2 starts processing, the laser rangefinder 3 measures the movement distance of the moving part 2 recognition point every 0.5 seconds, and the three-dimensional camera 6 measures the angle change value and movement of the moving part 2 recognition point every 0.5 seconds The change value of the moving speed of the identification point of the component 2 every 0.5 seconds, wherein the laser rangefinder 3, the grabbing camera 4, and the three-dimensional camera 6 move with the gimbal 5 to grab the identification point, and the control system controls the guide rail 505, the main shaft 502, the side The axis A503, the side axis B504, and the side axis C506 move relative to each other, so that the capture interface of the capture camera 4 and the 3D camera 6 always covers the recognition point, so that the laser rangefinder 3 can detect the moving part 2;

[0049] S2: The control system calculates the actual motion traje...

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Abstract

The invention relates to a vibration suppression robot using a multi-peak input shaping method and a control method thereof. The vibration suppression robot using the multi-peak input shaping method comprises a robot body, a distance measuring device and a control system. The machine body comprises an angle measuring device and a speed measuring device, the distance measuring device comprises a laser range finder, a grabbing camera and a universal rotating frame, the moving part is provided with an identification point capable of being grabbed by the grabbing camera, and the laser range finder and the grabbing camera are installed on the universal rotating frame. The angle measuring device and the speed measuring device are installed at the lower end of the machine body and electrically connected with the control system, and a secondary system input shaping algorithm, a tertiary system input shaping algorithm and a multiple system input shaping algorithm are arranged in the control system. According to the vibration suppression robot using the multi-peak input shaping method, different input shaping algorithms can be made according to the motion trail of the machine body, the vibration amplitude of the machine body is rapidly shortened, and the control positioning precision of the machine body is improved.

Description

technical field [0001] The invention relates to the field of vibration suppression robots, in particular to a vibration suppression robot using a multi-peak input shaping method and a control method thereof. Background technique [0002] With the development of social economy, the requirements for the control and positioning accuracy of robots are getting higher and higher. Affected by the weight of the machine itself, the mechanical equipment will have an inevitable and gradually attenuated swing after the movement, which is what we call residual vibration. And the heavier the machinery and equipment, the stronger the swing effect. If you want to improve the control and positioning accuracy of the robot, you must first suppress the vibration of the robot itself. [0003] There are many ways to suppress vibration, such as passive control to reduce vibration by increasing the stiffness and damping of parts and changing the system model; there is a feedback control method th...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J11/00B25J9/1602
Inventor 陈威
Owner 陈威
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