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Residual vibration suppression system and method for industrial robot

An industrial robot, residual vibration technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as affecting product quality, uneven coating, unqualified, etc., to reduce technical costs, ensure contour accuracy, and reduce motors. the impact of

Active Publication Date: 2022-05-17
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This requirement is very important in some industrial production, such as spraying robots, if there is vibration in the operation process, it will lead to uneven coating, if there is a contour error, it will cause some positions to miss coating, which will seriously affect the quality of the product , even lead to unqualified

Method used

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  • Residual vibration suppression system and method for industrial robot
  • Residual vibration suppression system and method for industrial robot
  • Residual vibration suppression system and method for industrial robot

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Embodiment 1

[0114] Such as figure 1 As shown, a residual vibration suppression method for industrial robots, the residual vibration suppression system for industrial robots used in this method includes an embedded industrial computer 1 with real-time control functions, an acceleration sensor 5, an acceleration signal transmission device 3, an industrial robot 4 and its servo driver 2, the acceleration sensor 5 is installed on the end 4 of the industrial robot through the acceleration sensor fixing element, and the collected acceleration signal is connected to the servo driver 2 of the industrial robot through the acceleration signal transmission device 3, and passed through the gigabit industrial The Ethernet interface connects the servo driver 2 with the embedded industrial computer 1; the acceleration sensor 5 is used to measure the acceleration signal and outputs it in an analog form; the acceleration signal transmission device 3 realizes the EtherCAT bus protocol stack, and the acceler...

Embodiment 3

[0118] Such as figure 2 As shown, a residual vibration suppression method for industrial robots includes the following steps:

[0119] S1. Perform manual teaching on the industrial robot 4, determine the interpolation trajectory type and running time, perform linear filter trajectory planning on the industrial robot, and generate an initial interpolation trajectory;

[0120] S2. Control the industrial robot 4 to perform initial trajectory interpolation motion, measure the acceleration signal of the residual vibration at the end of the industrial robot after the motion, and calculate the damping ratio ζ and the undamped vibration angular frequency ω of the residual vibration n ;

[0121] S3. According to the residual vibration mode at the end of the industrial robot, perform exponential filter trajectory planning on the industrial robot to generate a shaping interpolation trajectory with vibration suppression function;

[0122] S4. Control the industrial robot 4 to perform t...

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Abstract

The invention discloses a residual vibration suppression system and method for an industrial robot, and the system comprises an embedded industrial control computer with a real-time control function, an acceleration sensor, an acceleration signal transmission device, the industrial robot, and a servo controller of the industrial robot. The acceleration sensor is installed at the tail end of the industrial robot through an acceleration sensor fixing element, collected acceleration signals are connected into a servo driver of the industrial robot through an acceleration signal transmission device, and the servo driver is connected with the embedded industrial personal computer through a gigabit industrial Ethernet interface. The residual vibration suppression system provided by the invention is relatively simple and relatively low in cost, the industrial robot control platform has a real-time function, and the residual vibration suppression method provided by the invention can further improve the smoothness of track operation and reduce the impact on the motor in the operation process while realizing the maximum suppression of the residual vibration, so that the reliability of the system is improved. And the contour precision of the interpolation track is ensured.

Description

technical field [0001] The invention relates to the field of residual vibration suppression, in particular to a residual vibration suppression system and method for industrial robots. Background technique [0002] In industrial production, industrial robots often require fast movement and precise positioning. However, due to the flexible structure of the industrial robot itself, such as harmonic reducers and belts, the end of the industrial robot will experience severe residual vibration after the end of the movement, and it will take a certain amount of time to calm down. This phenomenon is especially obvious when the industrial robot is carrying a flexible load. , which seriously affects the production efficiency and positioning accuracy, and also brings great challenges to the application of industrial robot technology. For this reason, realizing the suppression of residual vibration at the end of industrial robots is of great significance for improving production effici...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/00
CPCB25J9/0081B25J9/163B25J9/1664B25J13/006Y02P90/02
Inventor 邹焱飚刘涛
Owner SOUTH CHINA UNIV OF TECH
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