Decoupling control method and system for two-degree-of-freedom vibration suppressor of robot

Abstract

The invention belongs to the technical field of robots, and discloses a decoupling control method and system for a two-degree-of-freedom vibration suppressor of a robot, and the method comprises the steps: analyzing the structural characteristics of a robot system, and designing a decoupling control strategy through a structural invariance principle; coupled vibration of force applied in the X direction in the Y direction and coupled vibration of force applied in the Y direction in the X direction are effectively eliminated. Compared with a traditional vibration control method, the multi-degree-of-freedom vibration suppression method has the advantages that the influence of a pose related mode and a coupling mode of the robot is fully considered, multi-degree-of-freedom vibration suppression can be efficiently realized in real time in a complex load and dynamic environment, and the adaptability and the control precision are relatively high. The technology has wide application prospects in the fields of robot precision machining, assembling, carrying and the like, and the stability, precision and working efficiency of a robot system can be remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a decoupling control method and system for a two-degree-of-freedom vibration suppressor of a robot. Background Art

[0002] With the rapid development of industrial automation and intelligence, robots are widely used in precision machining, assembly, handling and other tasks. The serial structure of the robot leads to low stiffness of the robot end, which is easy to produce large vibration under the action of cutting force, seriously affecting the machining accuracy and surface quality of robot milling, and restricting the development of robot milling. Especially in high-load and high-precision scenarios, robots are often disturbed by vibration when performing tasks. This vibration mainly comes from the inertia force of the robot's moving parts, the external interference force in the working environment, and the dynamic impact force generated in the task. These vibrations will significantly affect the robot's position accuracy, trajectory stability and machining quality. In the field of vibration control, traditional vibration suppression methods mainly focus on control in a single degree of freedom direction. However, the structure of modern robots is often multi-degree-of-freedom, and vibrations in different directions are coupled with each other. For example, when the robot applies control force in the X direction to suppress vibration, it often causes coupled vibration in the Y direction, causing vibration to be transmitted and superimposed between different degrees of freedom, thereby affecting the overall stability of the system.

[0003] At present, vibration control technology includes two categories: passive vibration control and active vibration control: Passive vibration control: usually absorbs vibration energy by increasing damping or adjusting structural stiffness, such as using shock absorbers and vibration isolation pads. However, passive control has limited effect on complex multi-degree-of-freedom vibration systems, especially in high-frequency bands or scenarios with high dynamic requirements, it cannot fully suppress vibrations. Active vibration control: The vibration signal is detected in real time by sensors, and then the actuator is used to generate reverse vibration force to offset the interference. For example, adaptive filtering control and feedback control methods have achieved good results in vibration suppression in a single direction, but for multi-degree-of-freedom systems, traditional feedback control strategies will cause unstable control or reduced accuracy due to the coupling relationship between each direction.

[0004] In the above context, there is an urgent need for a control method that can effectively solve the coupled vibration between multiple degrees of freedom without increasing the complexity of the control system, so as to ensure the vibration suppression effect of the robot in a high-load and high-precision environment.

[0005] Through the above analysis, the problems and defects of the prior art are as follows:

[0006] (1) In practical applications, the vibration of the robot system will produce a complex coupling effect between the X and Y directions. Traditional PID control methods are difficult to effectively separate or offset this coupling, resulting in the vibration control force in one direction causing a response in another direction, making the overall vibration of the system more difficult to control.

[0007] (2) In complex loads and dynamic tasks, the vibration transfer path of the system has significant nonlinearity, which brings great challenges to decoupling control. Traditional feedback control or adaptive control algorithms cannot quickly adapt to such dynamic changes and are prone to mismatch, which reduces the vibration suppression effect. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention provides a decoupling control method for a two-degree-of-freedom vibration suppressor of a robot.

[0009] The present invention is implemented in this way: a decoupling control method for a two-degree-of-freedom vibration suppressor of a robot comprises:

[0010] Step 1, by analyzing the structural characteristics of the robot system, a decoupling control strategy is designed using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction, and eliminate the coupled vibration of the force applied in the Y direction in the X direction;

[0011] Step 2: Analyze the influence of the robot's posture-related modes and coupled modes, and suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

[0012] Further, the coupling vibration of the force applied in the X direction in the Y direction is eliminated, and the coupling vibration of the force applied in the Y direction in the X direction is eliminated:

[0013] The dynamic differential equation of motion can be described as follows:

[0014]

[0015] Where m xx ,m yy ,c xx ,c yy ,k xx ,k yy represent the modal mass, modal damping and modal stiffness in the X and Y directions respectively; m xy ,m yx ,c xy ,c yx ,k xy ,k yx represents the coupled modal mass, coupled modal damping and coupled modal stiffness in the X and Y directions; x(t) and y(t) represent the system under the external force f x (t) and fy (t) corresponding to the vibration displacement in the X and Y directions, and They represent the vibration velocity and acceleration of the system in the X and Y directions, respectively, where the external forces of the system include the control force of the two-degree-of-freedom vibration suppressor and the external force disturbance;

[0016] Let X c (s) and Y c (s) represents the Laplace transform of the acceleration in the X and Y directions, respectively, and F x (s) and F y (s) represents the Laplace transform of the external force in the X and Y directions respectively; assuming the initial condition is 0, the Laplace transform of the dynamic differential equation can be obtained:

[0017]

[0018] Among them G xx (s), G yy (s) represents the transfer function in the XY direction, G xy (s), G yx (s) represents the coupling transfer function in the XY direction, G C (s) represents the transfer function from the external force at the control point of the vibration control system to the robot vibration;

[0019] The vibration at the control point in the system can be expressed as:

[0020]

[0021] For vibration control in the X direction, the goal is to control the X direction only by the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the vibration in the X direction. To solve the coupling vibration problem caused by the control force in the X and Y directions, a decoupling controller is designed, which is denoted as G Fx (s) and G Fy (s); By adding decoupling control before the robot system, the influence of coupled vibration in the XY direction can be reduced; after adding the decoupling controller, the output force in the X and Y directions is expressed as:

[0022]

[0023] Among them I x and I y Expressing the output current in the X and Y directions, the vibration output equation becomes:

[0024]

[0025] By decoupling the control forces in the X and Y directions, the following equations can be obtained:

[0026]

[0027] Obviously, in order to reduce the coupling effect of the vibrations in the X and Y directions, the control force F in the vibration equation in the X direction cy (s) must be set to zero; since G xy (s) and G xx (s) is not zero, the decoupling controller must meet the following conditions:

[0028]

[0029] The decoupled controller can be expressed as:

[0030]

[0031] Another object of the present invention is to provide a robot two-degree-of-freedom vibration suppressor decoupling control system comprising:

[0032] The elimination module is used to analyze the structural characteristics of the robot system and design a decoupling control strategy using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction, and eliminate the coupled vibration of the force applied in the Y direction in the X direction;

[0033] The analysis module is used to analyze the influence of the robot's posture-related modes and coupled modes, and to suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

[0034] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the robot two-degree-of-freedom vibration suppressor decoupling control method.

[0035] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform the steps of the robot two-degree-of-freedom vibration suppressor decoupling control method.

[0036] Another object of the present invention is to provide an information data processing terminal, which is used to implement the robot two-degree-of-freedom vibration suppressor decoupling control system.

[0037] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0038] First, the significance of solving the above problems and defects is to improve the overall performance and application value of the robot system, which is specifically reflected in the following aspects:

[0039] 1. Improve processing and operation accuracy: By reducing the vibration coupling between different directions, the robot system can reduce the position error caused by vibration when performing high-precision tasks (such as precision machining, assembly, etc.), ensuring trajectory and positioning accuracy. This is of great significance for industrial applications with extremely high precision requirements, and helps to improve the processing quality and consistency of products.

[0040] 2. Enhance the stability and reliability of the system: Effective decoupled vibration control can independently suppress vibration in different directions, prevent vibration from being transmitted and amplified between multiple degrees of freedom, and improve the overall stability of the system. This is particularly critical for robot control in high-load scenarios, which can extend the service life of the equipment and reduce failures and maintenance costs caused by vibration.

[0041] 3. Promote the industrial application of vibration control of multi-degree-of-freedom robots: Traditional multi-degree-of-freedom vibration control methods are often difficult to apply to actual industrial scenarios, while the feedforward decoupling control method based on structural invariance of the present invention can achieve efficient decoupling vibration suppression while keeping the control system simple. This solution has strong versatility and adaptability, and provides a feasible application solution for vibration control of multi-degree-of-freedom robots in various industrial tasks, promoting technological progress and innovation in this field.

[0042] The present invention relates to a decoupling control method for a two-degree-of-freedom vibration suppressor of a robot, which is mainly used to solve the vibration coupling problem caused by the applied force in a multi-degree-of-freedom robot system. Specifically, the present invention realizes the decoupling of the coupled vibration control of the force applied in the X direction in the Y direction and the decoupling of the coupled vibration control of the force applied in the Y direction in the X direction by utilizing the structural invariance principle of the robot system, thereby effectively suppressing the vibration coupling phenomenon in the multi-degree-of-freedom robot system, improving the accuracy and stability of robot processing, and is particularly suitable for high-load, high-dynamic application scenarios such as robot milling and precision grinding and polishing.

[0043] The present invention realizes independent control of vibration directions in the robot multi-degree-of-freedom system through decoupling control based on the principle of structural invariance, successfully reduces the coupled vibration caused by the force applied in the X direction in the Y direction, and also reduces the coupled vibration caused by the force applied in the Y direction in the X direction. This decoupling control significantly improves the stability of the robot system, especially maintaining the stability and reliability of the system under complex loads or dynamic conditions.

[0044] The decoupling control strategy of the present invention can effectively reduce the error caused by coupled vibration, thereby greatly improving the working accuracy of the robot system. This is particularly critical for application scenarios with extremely high precision requirements such as precision machining and medical surgery. The application of the present invention will reduce the impact of vibration errors. Its high precision, high stability and energy-saving effect not only provide a better solution for the robot system, but also can improve production efficiency, reduce error losses, and reduce maintenance costs, bringing significant economic benefits.

[0045] By reducing structural fatigue and wear caused by vibration coupling, the decoupling control scheme of the present invention significantly improves the reliability and service life of the robot system. Especially in high-load and continuous working scenarios, the present invention can effectively delay mechanical wear, reduce maintenance costs, and improve the long-term stability and efficiency of the equipment.

[0046] Second, as auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following two important aspects:

[0047] (1) The expected benefits and commercial value of the technical solution of the present invention after transformation are:

[0048] The technical solution of the present invention is expected to bring significant benefits and commercial value after transformation. By reducing the coupled vibration of the robot in multiple degrees of freedom, the present invention can significantly improve the accuracy and surface quality of robot processing. This improvement has great commercial value for industries with high requirements for high-precision processing, such as aerospace manufacturing. The present invention effectively suppresses the vibration problem in the robot system, reduces fatigue damage caused by vibration, extends the service life of the equipment, and reduces the frequency of unplanned downtime and maintenance caused by vibration. At the same time, the technical solution of the present invention is applicable to a variety of robot processing scenarios, not only limited to milling processing, but also can be applied to other high-precision processing fields, such as turning, drilling, grinding, etc. Its wide applicability makes the present invention have great market potential and can meet the diverse needs of different customers.

[0049] (2) Whether the technical solution of the present invention overcomes technical prejudice:

[0050] The technical solution of the present invention successfully overcomes the prejudice of the limitation of multi-degree-of-freedom vibration control in traditional vibration control technology. The existing technology usually focuses on suppressing the problem of a single degree of freedom (such as uniaxial vibration or unidirectional vibration), while ignoring the mutual coupling between vibration directions in multi-degree-of-freedom systems. In most studies and applications, the control strategy is optimized for the vibration problem in a single direction, resulting in the inability to effectively deal with the complex coupled vibration in the multi-degree-of-freedom system. The present invention overcomes this prejudice and realizes the independent suppression of vibrations in different directions through a decoupling control method, effectively reducing the influence of the force applied in the X direction on the Y direction, and reducing the influence of the force applied in the Y direction on the X direction, solving the problem of directional coupled vibration in the multi-degree-of-freedom system. This innovative solution breaks through the limitation of traditional control methods that are limited to a single direction and provides a new multi-directional coupled vibration suppression technology. A new, multi-degree-of-freedom vibration decoupling control method is provided, which makes vibration suppression of multi-degree-of-freedom systems possible, and provides an efficient, real-time and achievable solution under high load, complex working conditions and high dynamic environments. This breakthrough technology will promote the application of robot systems in multiple high-precision fields and further improve the development level of vibration control technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a flow chart of a decoupling control method for a two-degree-of-freedom vibration suppressor of a robot provided by an embodiment of the present invention;

[0052] Figure 2 It is a structural block diagram of a decoupling control system of a robot two-degree-of-freedom vibration suppressor provided by an embodiment of the present invention;

[0053] Figure 3 It is a schematic diagram of the actual installation and application of the robot two-degree-of-freedom vibration control system provided by an embodiment of the present invention;

[0054] Figure 4 It is a schematic diagram of decoupling control of a robot two-degree-of-freedom vibration suppressor based on the principle of structural invariance provided by an embodiment of the present invention;

[0055] Figure 5 It is a control block diagram of a decoupling control of a robot two-degree-of-freedom vibration suppressor based on the principle of structural invariance provided by an embodiment of the present invention;

[0056] Figure 6 is a comparison diagram of measured acceleration of the X-direction control force before and after decoupling vibration control is turned on, provided by an embodiment of the present invention;

[0057] Figure 7 It is a comparison diagram of the measured acceleration of the Y-direction control force before and after the decoupling vibration control is turned on according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0059] like Figure 1 As shown, a decoupling control method for a two-degree-of-freedom vibration suppressor of a robot provided by an embodiment of the present invention comprises the following steps:

[0060] S101, by analyzing the structural characteristics of the robot system, a decoupling control strategy is designed using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction;

[0061] S102, analyze the influence of the robot's posture-related modes and coupled modes, and suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

[0062] The method of the present invention firstly conducts an in-depth analysis of the structural characteristics of the robot system to identify the mechanical coupling relationship of the system in the X direction and the Y direction. In order to eliminate the coupled vibration caused by the force applied in the X direction in the Y direction, a decoupling control strategy based on the principle of structural invariance is designed. This principle describes the dynamic characteristics of the robot system by constructing a mathematical model, and uses coordinate transformation and torque decomposition methods to effectively separate the coupling terms in the multi-degree-of-freedom system to achieve localization of vibration effects. Through this decoupling design, it can be ensured that the control force applied in the X direction only affects the vibration response in the X direction, thereby eliminating interference in the Y direction and improving the decoupling control effect of the system.

[0063] During the actual operation of the robot system, the robot's posture changes and different load conditions will introduce new modal characteristics, which may lead to the aggravation of the coupled vibration of the system. To solve this problem, this method dynamically analyzes the posture-related modes and coupled modes of the robot system to identify the changing laws of the system's natural frequency and modal parameters under different postures. By constructing a real-time modal analysis model and combining the posture and load data fed back by the sensor, the system can capture the impact of posture changes on coupled vibration in real time, providing accurate dynamic input for subsequent vibration suppression control.

[0064] This method proposes an efficient and real-time vibration suppression strategy for multi-degree-of-freedom vibrations under complex loads and dynamic environments. The vibration state of each degree of freedom of the robot is monitored in real time by a state observer, and the coupled vibration is accurately suppressed using a feedback control algorithm. At the same time, an adaptive control method is used to automatically adjust the controller gain coefficient according to parameter changes during system operation to ensure good vibration suppression performance in a dynamic environment. Through this real-time control of multiple degrees of freedom, the robot system can achieve stable vibration suppression effects under high-speed operation and complex load conditions.

[0065] In the integrated implementation of decoupling control and vibration suppression schemes, this method combines the decoupling control strategy based on the principle of structural invariance with posture modal analysis and feedback control to form a complete two-degree-of-freedom vibration suppression system. First, the decoupling control strategy eliminates the vibration coupling effect between the degrees of freedom; second, based on the results of posture modal analysis and sensor feedback, real-time dynamic adjustment is achieved. Through the integrated design of the system, the robot can effectively suppress the vibration response of the two degrees of freedom in a complex dynamic working environment, improve the motion accuracy and stability of the system, and ensure efficient and reliable operation performance.

[0066] In summary, the present invention designs decoupling strategies, dynamic modal analysis, feedback adaptive control and system integration based on the principle of structural invariance, forming an efficient and real-time decoupling control method for a two-degree-of-freedom vibration suppressor of a robot, which effectively improves the vibration control performance and dynamic response stability of the robot system.

[0067] The embodiment of the present invention provides a method for eliminating the coupled vibration in the Y direction of the force applied in the X direction:

[0068] The dynamic differential equation of motion can be described as follows:

[0069]

[0070] Where m xx ,m yy ,c xx ,c yy ,k xx ,k yy represent the modal mass, modal damping and modal stiffness in the X and Y directions respectively; m xy ,m yx ,c xy ,c yx ,k xy ,k yx represents the coupled modal mass, coupled modal damping and coupled modal stiffness in the X and Y directions; x(t) and y(t) represent the system under the external force f x (t) and f y (t) corresponding to the vibration displacement in the X and Y directions, and They represent the vibration velocity and acceleration of the system in the X and Y directions, respectively, where the external forces of the system include the control force of the two-degree-of-freedom vibration suppressor and the external force disturbance;

[0071] Let X c (s) and Y c (s) represents the Laplace transform of the acceleration in the X and Y directions, respectively, and F x (s) and Fy (s) represents the Laplace transform of the external force in the X and Y directions respectively; assuming the initial condition is 0, the Laplace transform of the dynamic differential equation can be obtained:

[0072]

[0073] like Figure 3 , where G xx (s), G yy (s) represents the transfer function in the XY direction, G xy (s), G yx (s) represents the coupling transfer function in the XY direction, G C (s) represents the transfer function from the external force at the control point of the vibration control system to the robot vibration;

[0074] The vibration at the control point in the system can be expressed as:

[0075]

[0076] For vibration control in the X direction, the goal is to control the X direction only by the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the vibration in the X direction. To solve the coupling vibration problem caused by the control force in the XY direction, a decoupling controller is designed based on the principle of structural invariance, which are denoted as G Fx (s) and G Fy (s); By adding decoupling control before the robot system, the influence of coupled vibration in the XY direction can be reduced;

[0077] After adding the decoupling controller, the output forces in the X and Y directions are expressed as:

[0078]

[0079] Among them I x and I y Expressing the output current in the X and Y directions, the vibration output equation becomes:

[0080]

[0081] By decoupling the control forces in the X and Y directions, the following equations can be obtained:

[0082]

[0083] Obviously, in order to reduce the coupling effect of the vibrations in the X and Y directions, the control force F in the vibration equation in the X direction cy (s) must be set to zero; since G xy (s) and G xx(s) is not zero, the decoupling controller must meet the following conditions:

[0084]

[0085] The decoupled controller can be expressed as:

[0086]

[0087] like Figure 2 As shown, a robot two-degree-of-freedom vibration suppressor decoupling control system provided by an embodiment of the present invention includes:

[0088] The elimination module is used to analyze the structural characteristics of the robot system and design a decoupling control strategy using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction, and eliminate the coupled vibration of the force applied in the Y direction in the X direction;

[0089] The analysis module is used to analyze the influence of the robot's posture-related modes and coupled modes, and to suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

[0090] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the robot two-degree-of-freedom vibration suppressor decoupling control method.

[0091] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform the steps of the robot two-degree-of-freedom vibration suppressor decoupling control method.

[0092] Another object of the present invention is to provide an information data processing terminal, which is used to implement the robot two-degree-of-freedom vibration suppressor decoupling control system.

[0093] The present invention is specifically implemented:

[0094] like Figure 4 , Figure 5As shown, the present invention relates to a decoupling control method of a robot two-degree-of-freedom vibration suppressor based on the principle of structural invariance, which is mainly used to solve the vibration coupling problem caused by the applied force in a multi-degree-of-freedom robot system. Specifically, the present invention realizes the decoupling of the coupled vibration of the force applied in the X direction in the Y direction, and the decoupling of the coupled vibration of the force applied in the Y direction in the X direction by utilizing the principle of structural invariance of the robot system, thereby effectively suppressing the vibration coupling phenomenon in the multi-degree-of-freedom robot system, improving the accuracy and stability of robot processing, and is particularly suitable for high-load, high-dynamic application scenarios such as robot milling and precision grinding and polishing.

[0095] The present invention is implemented as follows: a decoupling control method for a robot two-degree-of-freedom vibration suppressor based on the principle of structural invariance, comprising:

[0096] Compared with traditional CNC machine tools, serial industrial robots have lower stiffness. In CNC machine tools, the X and Y directions are usually considered to be independent of each other. However, in a robotic milling system, a force applied in the X direction will produce a coupled acceleration in the Y direction, especially when the stiffness in the X or Y direction is large and the XY coupling stiffness is small. Therefore, the acceleration caused by the coupling of the X and Y directions in the robot cannot be ignored. The robot can be regarded as a coupled two-degree-of-freedom mechanical system, and its dynamic motion differential equation can be described as follows:

[0097]

[0098] Where m xx ,m yy ,c xx ,c yy ,k xx ,k yy represent the modal mass, modal damping and modal stiffness in the X and Y directions respectively. xy ,m yx ,c xy ,c yx ,k xy ,k yx represents the coupled modal mass, coupled modal damping and coupled modal stiffness in the X and Y directions. x(t) and y(t) represent the system under the external force f x (t) and f y (t) corresponding to the vibration displacement in the X and Y directions, and They represent the vibration velocity and acceleration of the system in the X and Y directions respectively, where the external forces of the system include the control force of the two-degree-of-freedom vibration suppressor and the external force disturbance.

[0099] Let X c (s) and Y c(s) represents the Laplace transform of the acceleration in the X and Y directions, respectively, and F x (s) and F y (s) represents the Laplace transform of the external force in the X and Y directions respectively. Assuming the initial condition is 0, the Laplace transform of the dynamic differential equation can be obtained:

[0100]

[0101] Among them G xx (s), G yy (s) represents the transfer function in the XY direction, G xy (s), G yx (s) represents the coupling transfer function in the XY direction, G C (s) represents the transfer function from the external force at the control point of the vibration control system to the robot vibration.

[0102] A vibration decoupling control method based on the principle of structural invariance is proposed to reduce the coupling effect of the control force applied by the two-degree-of-freedom vibration suppressor in the XY direction of the robot. This method decouples the control system in the XY direction of the robot and greatly simplifies the design of the control system.

[0103] The two-degree-of-freedom vibration suppressor can independently output the control force in the X and Y directions to the main system. However, due to the coupling of the robot system in the XY direction, the control force applied in the X direction will not only produce the corresponding vibration in the X direction, but also cause coupled vibration in the Y direction. This coupled vibration seriously affects the vibration reduction performance of the two-degree-of-freedom vibration suppressor. The vibration at the control point in the system can be expressed as:

[0104]

[0105] For vibration control in the X direction, the goal is to control the X direction only by the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the vibration in the X direction. In order to solve the coupling vibration problem caused by the control force in the X and Y directions, a decoupling controller is designed based on the principle of structural invariance, which are denoted as G Fx (s) and G Fy (s). By adding a decoupling controller before the robot system, the influence of coupled vibration in the XY direction can be reduced. After adding the decoupling controller, the output force in the X and Y directions is expressed as:

[0106]

[0107] Among them I x and I y Expressing the output current in the X and Y directions, the vibration output equation becomes:

[0108]

[0109] By decoupling the control forces in the X and Y directions, the following equations can be obtained:

[0110]

[0111] Obviously, in order to reduce the coupling effect of the vibrations in the X and Y directions, the control force F in the vibration equation in the X direction cy (s) must be set to zero; since G xy (s) and G xx (s) is not zero, the decoupling controller must meet the following conditions:

[0112]

[0113] The decoupled controller can be expressed as:

[0114]

[0115] Through the decoupling controller designed based on the principle of structural invariance, the robot is only affected by the X and Y direction control forces generated by the two-degree-of-freedom vibration suppressor in their respective directions. Therefore, the vibration controller can be designed for the X and Y directions respectively without considering the coupling effect of the output control force of the two-degree-of-freedom vibration suppressor on the robot system, which greatly reduces the complexity of the controller design.

[0116] 1. Specific application fields or related products of the present invention.

[0117] The present invention is specifically applied to the field of robot processing and has broad application potential in various industries such as high-precision processing, industrial handling, aerospace assembly, medical operations and intelligent manufacturing. It helps to improve the vibration control level of multi-degree-of-freedom robot systems, can effectively improve the stability and precision of multi-degree-of-freedom robots, reduce the impact of vibration on processing quality, and improve the applicability of robot automated processing.

[0118] 2. Relevant evidence of the technical effects obtained by the embodiments of the present invention.

[0119] A two-degree-of-freedom vibration suppressor is used to apply a driving force of a certain frequency and magnitude in the X and Y directions respectively, and an accelerometer is installed at the end of the robot to collect the acceleration of the robot in the X and Y directions. The acceleration in the X and Y directions before and after the two-degree-of-freedom vibration suppressor proposed by the present invention is turned on is as follows, where the blue line represents the acceleration in the X direction, the red line represents the acceleration in the Y direction, and the yellow line and the green line represent the root mean square value of the acceleration in the X and Y directions respectively. A driving force of a specified magnitude and frequency is applied in the X direction, and the acceleration in the X and Y directions is as follows: Figure 6 :

[0120] A driving force of specified magnitude and frequency is applied in the Y direction, and the accelerations in the X and Y directions are as follows: Figure 7 :

[0121] The feedforward decoupling vibration control method for the robot two-degree-of-freedom vibration suppressor proposed in the present invention can effectively reduce the coupled vibration generated in the Y-axis by the control force applied in the X-direction, and can also effectively reduce the coupled vibration generated in the X-direction by the control force applied in the Y-direction, thereby effectively improving the two-degree-of-freedom vibration suppression effect of the robot.

[0122] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0123] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A feedforward decoupling control method for a two-degree-of-freedom vibration suppressor of a robot, characterized in that: The robot two-degree-of-freedom vibration suppressor feedforward decoupling control method comprises the following steps: Step 1, by analyzing the structural characteristics of the robot system, a feedforward decoupling control strategy is designed using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction; Step 2: Analyze the influence of the robot's posture-related modes and coupled modes, and suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

2. The feedforward decoupling control method for a two-degree-of-freedom vibration suppressor of a robot as claimed in claim 1, characterized in that: The method for eliminating the coupled vibration of the force applied in the X direction in the Y direction is: The dynamic differential equation of motion can be described as follows: Where m xx ,m yy ,c xx ,c yy ,k xx ,k yy represent the modal mass, modal damping and modal stiffness in the X and Y directions respectively; m xy ,m yx ,c xy ,c yx ,k xy ,k yx represents the coupled modal mass, coupled modal damping and coupled modal stiffness in the X and Y directions; x(t) and y(t) represent the system under the external force f x (t) and f y (t) The corresponding vibration displacement in the X and Y directions under the action, where the external force of the system includes the control force of the two-degree-of-freedom vibration suppressor and the external force disturbance; Let X c (s) and Y c (s) represents the Laplace transform of the acceleration in the X and Y directions, respectively, and F x (s) and F y (s) represents the Laplace transform of the external force in the X and Y directions respectively; assuming the initial condition is 0, the Laplace transform of the dynamic differential equation can be obtained: Among them G xx (s), G yy (s) represents the transfer function in the XY direction, G xy (s), G yx (s) represents the coupling transfer function in the XY direction, G C (s) represents the transfer function from the external force at the control point of the vibration control system to the robot vibration; The vibration at the control point in the system can be expressed as: For vibration control in the X direction, the goal is to control the X direction only by the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the vibration in the X direction. To solve the coupling vibration problem caused by the control force in the XY direction, a feedforward compensator is designed based on the principle of structural invariance, which are denoted as G Fx (s) and G Fy (s); By adding decoupling feedforward compensation before the robot system, the influence of coupled vibration in the XY direction can be reduced; after adding the decoupling controller, the output force in the X and Y directions is expressed as: Among them I x and I y Expressing the output current in the X and Y directions, the vibration output equation becomes: By decoupling the control forces in the X and Y directions, the following equations can be obtained: Obviously, in order to reduce the coupling effect of the vibrations in the X and Y directions, the control force F in the vibration equation in the X direction cy (s) must be set to zero; since G xy (s) and G xx (s) is not zero, the decoupling controller must meet the following conditions: The decoupled controller can be expressed as:

3. A robot two-degree-of-freedom vibration suppressor feedforward decoupling control system implementing the robot two-degree-of-freedom vibration suppressor feedforward decoupling control method as claimed in any one of claims 1 to 2, characterized in that: The robot two-degree-of-freedom vibration suppressor feedforward decoupling control system comprises: The elimination module is used to analyze the structural characteristics of the robot system and design a feedforward decoupling control strategy using the principle of structural invariance to eliminate the coupled vibration of the force applied in the X direction in the Y direction; The analysis module is used to analyze the influence of the robot's posture-related modes and coupled modes, and to suppress multi-degree-of-freedom vibrations efficiently and in real time under complex loads and dynamic environments.

4. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the robot two-degree-of-freedom vibration suppressor feedforward decoupling control method as described in any one of claims 1-2.

5. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the feedforward decoupling control method for a two-degree-of-freedom vibration suppressor of a robot as claimed in any one of claims 1 to 2.

6. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the robot two-degree-of-freedom vibration suppressor feedforward decoupling control system as described in claim 3.

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