Method and system for flexible joint shake suppression based on trajectory optimization control

Abstract

The invention relates to the technical field of flexible joint jitter suppression, and discloses a flexible joint jitter suppression method and system based on trajectory optimization control. The trajectory optimization-based jitter suppression method proposed by the present invention belongs to the category of active control; The finite Laplace trajectory optimization method for joint model trajectory design, the key trajectory information is the starting position and the target position and the running time from the starting position to the target position. Compared with the traditional input shaping, there is no problem of running delay; Based on the initial position, the target position and the running time required to reach the target position, the invention performs the finite Laplace trajectory optimization method, which can realize the optimization of acceleration, improve the residual jitter of the flexible joints of the robot, and improve the running stability.

Description

technical field [0001] The invention relates to the technical field of flexible joint shake suppression, in particular to a flexible joint shake suppression method and system based on trajectory optimization control. Background technique [0002] The flexibility in the robot is mainly divided into link flexibility and joint flexibility. Due to the existence of flexibility, the robot will experience process jitter and residual jitter after stopping during operation. In order to improve the control performance, the jitter suppression methods for these two kinds of flexibility are mainly It is divided into two categories: active suppression and passive suppression. Since passive suppression optimizes the design of the structure of the flexible robot by selecting various energy-consuming or energy-storing materials, so as to achieve the purpose of reducing jitter, passive suppression is not considered in this application for the time being. [0003] At present, most of the comm...

AI Technical Summary

Problems solved by technology

The traditional trajectory shaping method will cause the problem of running lag, which is caused by the lag after the ZV (ZVD) shaper processes the trajectory. The lag time depends on the number of pulses for convolution and the time of pulse application. When the number The more, the more serious the hysteresis, the greater the time interval of pulse application, the more serious the hysteresis

However, in practical engineering applications, high production efficiency is necessary, so the equipment operation lag caused by the traditional input shaper is unacceptable

[0004] The flexible joints of tandem robots often lead to serious end-jitter problems. If each joint is flexible, the accumulation of flexibility will lead to severe end-jitter and residual shake after stopping. The shake problem needs to be solved urgently;

[0005] The traditional trajectory shaping method is easy to lead to the phenomenon of running time delay, especially for point-to-point operation. If there is a delay in each trajectory, it will not be able to achieve efficient operation in the end.

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