A robot vibration suppression method, apparatus, device and medium

Abstract

The application discloses a robot vibration suppression method, device, equipment and medium, and the method comprises the following steps: constructing a servo control system of a robot, including a position loop regulator, a speed loop regulator, an improved notch filter and a current loop regulator connected in sequence, and the control parameters of the improved notch filter include a notch center frequency, a notch depth coefficient, a notch width coefficient and a phase improvement coefficient; controlling a built-in servo motor of the robot to rotate, the servo motor controls a side load of a connecting rod through a harmonic reducer, and an excitation signal caused by manufacturing and assembly errors of the harmonic reducer is generated in the servo control system; determining a theoretical frequency of the excitation signal and setting the theoretical frequency as the notch center frequency; and controlling the improved notch filter to filter out the component containing the theoretical frequency in the input signal, so as to suppress the vibration of the robot. The improved notch filter can more quickly and effectively suppress the resonance behavior of the robot, and meanwhile, the servo control system of the robot has high stability.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a method, apparatus, device, and medium for suppressing robot vibration. Background Technology

[0002] With the increasing level of industrial automation, more and more robots are being widely used in industrial manufacturing, such as welding, painting, assembly, and handling, to form flexible production lines in conjunction with other equipment. Robots are typically equipped with harmonic reducers for control during movement. However, these reducers also increase joint flexibility. When an excitation source exists and its frequency reaches the robot's resonant frequency, it can easily cause destructive vibrations in the robot, severely affecting the accuracy of its end effector trajectory.

[0003] In existing technologies, a double-T notch filter is typically added to the servo control system of a robot to suppress vibration. The control parameters of this double-T notch filter are limited to the notch center frequency, notch depth coefficient, and notch width coefficient. Setting the notch center frequency is challenging, and current methods have certain drawbacks: The first method involves parameter identification to calculate the robot's natural frequencies, then using these natural frequencies as the robot's resonant frequencies and setting them as the notch center frequencies. However, since the robot is a time-varying inertia and nonlinear stiffness system, identifying natural frequencies by dividing the region is time-consuming and computationally difficult. The second method uses online FFT (Fast Fourier Transform) analysis to determine the robot's resonant frequencies and then sets these resonant frequencies as the notch center frequencies. However, due to the short runtime of the robot and the low resolution of the online FFT results, the obtained resonant frequencies are not accurate enough. Furthermore, adding the double-T notch filter introduces phase lag into the servo control system, making it unstable. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for suppressing robot vibration, in order to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0005] In a first aspect, a method for suppressing robot vibration is provided, the method comprising:

[0006] A servo control system for a robot is constructed, comprising a position loop regulator, a velocity loop regulator, an improved notch filter, and a current loop regulator connected in sequence. The control parameters of the improved notch filter include the notch center frequency, notch depth coefficient, notch width coefficient, and phase improvement coefficient.

[0007] The servo motor built into the robot is controlled to rotate. The servo motor controls the load on the link side through a harmonic reducer. The servo control system generates an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself.

[0008] Determine the theoretical frequency of the excitation signal and set the theoretical frequency as the center frequency of the notch filter;

[0009] The improved notch filter is controlled to filter out components of the theoretical frequency contained in its input signal in order to suppress vibration in the robot.

[0010] Furthermore, the harmonic reducer is equivalent to a torsion spring, and with the connecting rod side as the reference, the mathematical model of the servo control system is determined as follows:

[0011]

[0012] T s =(K+C s s)×(q m +q sync -q l );

[0013]

[0014] Among them, T m For electromagnetic torque, q ref Given the motor position, q m G represents the actual motor position. P (s) is the transfer function of the position loop regulator. G represents the actual motor speed. V (s) is the transfer function of the speed loop regulator, G INF (s) is the transfer function of the improved notch filter, G C (s) is the transfer function of the current loop regulator, where s represents a complex variable, and T... s Where C is the torsion spring torque, K is the torsion spring stiffness, and C is the torsion spring stiffness. s q is the damping coefficient of the torsion spring. sync Let q be the excitation signal. l For the position of the link, J m For motor inertia, T represents the actual motor acceleration. l J is the lateral torque of the connecting rod. l This is the moment of inertia of the connecting rod. This is the acceleration of the connecting rod.

[0015] Furthermore, the transfer function of the improved notch filter is:

[0016]

[0017] Where k is the notch width coefficient, p is the notch depth coefficient, and ω n ω is the center frequency of the notch filter. d The phase improvement coefficient is denoted as .

[0018] Furthermore, the excitation signal is:

[0019]

[0020] Where A is the amplitude. For phase, To convert the actual motor speed The representation from the connecting rod side to the motor side, where n is the harmonic reduction ratio and t is time.

[0021] Furthermore, the theoretical frequency of the excitation signal is:

[0022]

[0023] Where, ω sync The theoretical frequency of the excitation signal is... To give a given motor speed The representation from the connecting rod side to the motor side.

[0024] Furthermore, the notch width factor is determined as follows:

[0025] When the improved notch filter is not in use, the servo motor is controlled to rotate at different given motor speeds. In the servo control system, different excitation signals caused by the manufacturing and assembly errors of the harmonic reducer itself are generated to obtain the corresponding feedback motor speed curves.

[0026] Based on the given motor speeds, determine the theoretical frequencies corresponding to the multiple excitation signals;

[0027] Based on the multiple motor speed curves, determine the multiple actual frequencies corresponding to the multiple excitation signals;

[0028] Based on the multiple theoretical frequencies and the multiple actual frequencies, multiple frequency deviations are determined;

[0029] The notch width coefficient is determined based on the multiple frequency deviations, the notch center frequency, and the phase improvement coefficient.

[0030] Furthermore, the notch width factor is:

[0031] k = 2error / (ω)n +ω d );

[0032] Wherein, error is the maximum value among the multiple frequency deviations.

[0033] Secondly, a robot vibration suppression device is provided, the device comprising:

[0034] A building module is used to build a servo control system for a robot. It includes a position loop regulator, a velocity loop regulator, an improved notch filter, and a current loop regulator connected in sequence. The control parameters of the improved notch filter include the notch center frequency, notch depth coefficient, notch width coefficient, and phase improvement coefficient.

[0035] The control module is used to control the rotation of the servo motor built into the robot. The servo motor controls the load on the link side through a harmonic reducer. The servo control system generates an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself.

[0036] The setting module is used to determine the theoretical frequency of the excitation signal and set the theoretical frequency as the notch center frequency.

[0037] A suppression module is used to control the improved notch filter to filter out components of its input signal containing the theoretical frequency in order to suppress vibration in the robot.

[0038] Thirdly, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the robot vibration suppression method as described in the first aspect.

[0039] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the robot vibration suppression method as described in the first aspect.

[0040] The present invention has at least the following beneficial effects: Starting from the excitation signal generated when the servo motor built into the robot rotates, the theoretical frequency of the excitation signal is directly set as the center frequency of the notch filter of the improved notch filter. Compared with the prior art, it is not necessary to calculate the resonant frequency of the robot, and the resonant behavior of the robot can be suppressed more quickly and effectively. By introducing a phase improvement coefficient as a control parameter inside the improved notch filter, compared with the double T-type notch filter used in the prior art, the phase lag problem can be effectively improved, ensuring that the servo control system of the robot has high stability. Attached Figure Description

[0041] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0042] Figure 1 This is a flowchart illustrating a robot vibration suppression method according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the robot's equivalent mechanical transmission model in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of a robot servo control system with an improved notch filter added in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of a conventional robot servo control system without an improved notch filter in an embodiment of the present invention;

[0046] Figure 5 This is the Bode plot corresponding to the first and second transfer functions in the embodiments of the present invention;

[0047] Figure 6 These are the Bode plots corresponding to the transfer functions of the double-T notch filter and the improved notch filter in the embodiments of the present invention.

[0048] Figure 7 These are the Bode plots corresponding to the first, third, and fifth transfer functions in this embodiment of the invention;

[0049] Figure 8 These are the Bode plots corresponding to the second, fourth, and sixth transfer functions in this embodiment of the invention;

[0050] Figure 9 This is a schematic diagram of the pole distribution of a conventional robot servo control system without an improved notch filter in an embodiment of the present invention.

[0051] Figure 10 This is a schematic diagram of the pole distribution of the robot servo control system with added double T-type notch filters in an embodiment of the present invention;

[0052] Figure 11 This is a schematic diagram of the pole distribution of the robot servo control system with an improved notch filter added in an embodiment of the present invention;

[0053] Figure 12 This is a schematic diagram of the composition of a robot vibration suppression device according to an embodiment of the present invention;

[0054] Figure 13 This is a schematic diagram of the hardware structure of the computer device in an embodiment of this disclosure. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0056] It should be noted that although functional modules are divided in the system diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," "third," "fourth," etc., used in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed and are inherent to these processes, methods, products, or apparatuses.

[0057] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a robot vibration suppression method according to an embodiment of the present invention. The method includes the following:

[0058] Step S110: Construct a servo control system for the robot, which includes a position loop regulator, a speed loop regulator, an improved notch filter, and a current loop regulator connected in sequence. The control parameters of the improved notch filter include the notch center frequency, notch depth coefficient, notch width coefficient, and phase improvement coefficient.

[0059] Step S120: Control the servo motor built into the robot to rotate. The servo motor controls the load on the link side through a harmonic reducer. In the servo control system, an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself is generated.

[0060] Step S130: Determine the theoretical frequency of the excitation signal and set the theoretical frequency as the notch filter center frequency;

[0061] Step S140: Control the improved notch filter to filter out components containing the theoretical frequency in its input signal to suppress vibration of the robot; wherein, the input signal may also be referred to as the output signal of the speed loop regulator.

[0062] In step S110 above, see Figure 2 As shown in the equivalent mechanical transmission model, the servo motor is mainly controlled by connecting the load on the linkage side through a harmonic reducer. The harmonic reducer is analyzed as an equivalent to a torsion spring, and a model is constructed as follows: Figure 3 The mathematical model of the servo control system shown is as follows:

[0063]

[0064]

[0065]

[0066] G P (s)=k pp G V (s)=k vp G C (s) = 1,

[0067]

[0068] in:

[0069] In the formula, n is the harmonic reduction ratio (i.e., the reduction ratio inherent in the harmonic reducer), and T m For electromagnetic torque, and T m The equivalent conversion from the connecting rod side to the motor side is expressed as follows: q m Let q be the actual motor position. m The equivalent conversion from the connecting rod side to the motor side is expressed as follows: q ref Given the motor position, This represents the actual motor speed, and... The equivalent conversion from the connecting rod side to the motor side is expressed as follows: s is a complex variable, K is the stiffness of the torsion spring, and T is the spring stiffness. s For the torsion spring torque, C s q is the damping coefficient of the torsion spring (its value is small and can be ignored in practical applications). l Let q be the position of the link. sync For the excitation signal, J m Let J be the motor inertia. m The equivalent conversion from the connecting rod side to the motor side is expressed as follows: This represents the actual motor acceleration, and... The equivalent conversion from the connecting rod side to the motor side is expressed as follows: J l This is the moment of inertia of the connecting rod. For the acceleration of the connecting rod, T l G represents the lateral torque of the connecting rod (including gravity and the coupling force between the connecting rods); P (s) is the transfer function of the position loop regulator, k pp For the position loop proportional gain, G V (s) is the transfer function of the speed loop regulator, k vp For the velocity loop proportional gain, G C (s) is the transfer function of the current loop regulator, G INF (s) is the transfer function of the improved notch filter, ω n The notch center frequency is ω, p is the notch depth coefficient, k is the notch width coefficient, and ω is the notch width coefficient. d The phase improvement coefficient is denoted as .

[0070] In step S120 above, since the servo motor controls the load on the connecting rod side through the harmonic reducer, when the servo motor starts to rotate, the harmonic reducer will generate an angular transmission error denoted as q. ate =q sync +q error Specifically, the angular transmission error q ate The error between the input angle and the output angle of the harmonic reducer consists of two parts: the first part is the static component q caused by the manufacturing and assembly errors of the harmonic reducer itself. sync The second part is the dynamic component q caused by the stiffness of the harmonic reducer. error However, this invention only uses the static component q. sync Analyzing the excitation signal in the servo control system, the theoretical expression corresponding to the excitation signal is:

[0071]

[0072] Since this invention mainly studies the vibration suppression strategy when the servo motor is running at a constant rotor speed, the theoretical expression corresponding to the excitation signal is corrected as follows:

[0073]

[0074] In the formula, A is the amplitude of the excitation signal. Let t be the phase of the excitation signal, and t be time.

[0075] In this embodiment of the invention, combined with Figure 4The conventional robot servo control system shown, without the addition of an improved notch filter, assumes that the robot moves at a constant speed according to a given motor speed. The following analysis addresses the issue that injecting the excitation signal into the servo control system can cause resonance in the robot:

[0076] First, according to Figure 4 The derivation from the excitation signal q sync to the actual motor speed The first transfer function G1(s) is:

[0077]

[0078] And derive from the excitation signal q sync To the speed of the connecting rod The second transfer function G2(s) is:

[0079]

[0080] Next, Bode plots corresponding to the first transfer function G1(s) and the second transfer function G2(s) were drawn using MATLAB software. See [link to MATLAB software] for details. Figure 5 As shown, and by observing the expressions of the first transfer function G1(s) and the second transfer function G2(s), it can be seen that they have the same denominator, which indicates that the motor side and the link side have the same resonant frequency of 10Hz. That is, when the theoretical frequency of the excitation signal reaches the resonant frequency, the robot will exhibit resonant behavior. Therefore, the present invention does not need to calculate the resonant frequency of the servo control system, but only needs to filter out the theoretical frequency of the excitation signal to achieve vibration suppression of the robot.

[0081] In step S130 above, the theoretical frequency ω of the excitation signal can be determined based on the given motor speed and the theoretical expression corresponding to the corrected excitation signal. sync for:

[0082]

[0083] In the formula, Given the motor speed, and The equivalent conversion from the connecting rod side to the motor side is expressed as follows:

[0084] In this embodiment of the invention, when the improved notch filter is formally put into use in the servo control system (i.e., before performing step S140 above), see [link to relevant documentation]. Figure 3As shown, the control parameters of the improved notch filter need to be set preferentially, as follows:

[0085] First, the center frequency of the notch filter is set to the theoretical frequency of the excitation signal, i.e., ω. n =ω sync ;

[0086] Secondly, the notch depth coefficient is taken within the given range [0, 1), i.e., p∈[0, 1);

[0087] Third, the phase improvement coefficient is set within a given range (0, 2π), i.e., ω d ∈(0, 2π);

[0088] Fourth, construct an experimental scenario (i.e., without using the improved notch filter in the servo control system, see [link]). Figure 4 As shown), multiple given motor speeds are set and applied sequentially to the experimental scenario to experimentally determine multiple frequency deviations associated with these given motor speeds. The maximum value is then selected from these frequency deviations and recorded as `error`. Furthermore, the notch width coefficient is determined by combining the phase improvement coefficient and the notch center frequency: k = 2error / (ω... n +ω d ).

[0089] In this embodiment of the invention, the method for obtaining the plurality of frequency deviations is described below:

[0090] (1) Set multiple different given motor speeds and denot them as follows: m is the total number of the given motor speeds;

[0091] (2) Control the servo motor at a single given motor speed During rotation, a corresponding excitation signal q is generated in the servo control system due to the manufacturing and assembly errors of the harmonic reducer itself. sync_i In order to obtain the corresponding feedback motor speed curve;

[0092] By performing the above operation m times, multiple excitation signals generated in the servo control system can be obtained and denoted as {q}. sync_1 q sync_2 , ..., q sync_m}, i = 1, 2, ..., m, and obtain multiple motor speed curves corresponding to the feedback from the servo control system;

[0093] (3) Using the given motor speeds, calculate the theoretical frequencies corresponding to the given excitation signals and denot them as {ω}.sync_1 ω sync_2 ,...,ω sync_m},in

[0094] (4) Perform FFT analysis on the multiple motor speed curves respectively to obtain multiple actual frequencies, which are denoted as {ω}. m_1 ω m_2 ,...,ω m_m};

[0095] (5) Using the multiple actual frequencies and the multiple theoretical frequencies, calculate the multiple frequency deviations and record them as {error1, error2, ..., error...} m}, where error i =|ω sync_i -ω m_i |

[0096] In this embodiment of the invention, the necessity of introducing the phase improvement coefficient for the improved notch filter is explained below:

[0097] First, the improved notch filter is replaced with an existing double-T notch filter, and the transfer function of the double-T notch filter is determined as follows:

[0098]

[0099] And according to the transfer function G of the double-T notch filter INFO (s), the phase angle of the double-T notch filter is determined as follows:

[0100]

[0101] In the formula, s=jω is the correspondence between the Laplace transform and the Fourier transform, j is the imaginary unit, and ω is the angular frequency;

[0102] From the expression for the phase angle of the dual-T notch filter, it can be seen that, taking p=0 as an example, when ω→ω n At this time, the denominator of the expression approaches 0 but is still greater than 0, while the numerator of the expression is less than 0. Therefore, the phase angle ∠G of the double-T notch filter is... INFO (jω) also approaches negative infinity, which will produce a phase lag phenomenon;

[0103] Secondly, according to the transfer function G of the improved notch filter INF (s), the phase angle of the improved notch filter is determined as follows:

[0104]

[0105] From the expression for the phase angle of the improved notch filter, it can be seen that, taking p=0 as an example, when ω→ω n When the numerator and denominator of the expression increase, compared to the double-T notch filter, the phase will be improved to effectively improve the phase lag phenomenon;

[0106] Finally, the double-T notch filter was plotted using MATLAB software (its setting ω). d The transfer function of (=0) and the improved notch filter (which sets ω) d For the Bode plot corresponding to the transfer function of (=3.14), please refer to [link / reference needed]. Figure 6 As shown, the phase at the notch center frequency of 10Hz is significantly improved without phase lag, and the amplitude at the notch center frequency of 10Hz is significantly suppressed.

[0107] In this embodiment of the invention, combined with Figure 3 The robot servo control system with an improved notch filter shown is analyzed and explained below regarding the vibration suppression effect of the improved notch filter on the robot:

[0108] First, when the internal setting of the improved notch filter is ω d When =0 (i.e., the improved notch filter degenerates into the double-T notch filter), according to Figure 3 The derivation from the excitation signal q sync to the actual motor speed The third transfer function G3(s) is:

[0109]

[0110] And derive from the excitation signal q sync To the speed of the connecting rod The fourth transfer function G4(s) is:

[0111]

[0112] Secondly, when the internal setting of the improved notch filter is ω d When = 3.14, according to Figure 3 The derivation from the excitation signal q sync to the actual motor speed The fifth transfer function G5(s) is:

[0113]

[0114] And derive from the excitation signal q sync To the speed of the connecting rod The sixth transfer function G6(s) is:

[0115]

[0116] Finally, Bode plots corresponding to the first transfer function G1(s), the third transfer function G3(s), and the fifth transfer function G5(s) were plotted using MATLAB software. See [link to MATLAB software for details]. Figure 7 As shown, it can be seen that with the addition of the improved notch filter (which has an internal ω...) d =3.14) After that, the resonance peak at the resonant frequency of 10Hz was significantly better suppressed; and Bode plots corresponding to the second transfer function G2(s), the fourth transfer function G4(s), and the sixth transfer function G6(s) were plotted using MATLAB software, see details. Figure 8 As shown, it can be seen that with the addition of the improved notch filter (which has an internal ω...) d After (=3.14), the phase change amplitude at the resonant frequency of 10Hz is improved to a certain extent.

[0117] In this embodiment of the invention, when the improved notch filter is not incorporated into the servo control system, the four system poles are solved using the same denominator of the first transfer function G1(s) and the second transfer function G2(s). See details... Figure 9 As shown, all four system poles fall on the left half of the S-plane, indicating that the servo control system is stable. Based on this, the following analysis explains the impact of adding the improved notch filter on the stability of the servo control system:

[0118] When the improved notch filter is added to the servo control system and the improved notch filter has an internal setting ω... d When the value is 0 (i.e., the improved notch filter degenerates into the double-T notch filter), the six system poles are solved using the same denominator of the third transfer function G3(s) and the fourth transfer function G4(s). See details... Figure 10 As shown, compared to Figure 9 The addition of two system poles, however, indicates that the servo control system is unstable, as both poles fall on the right half of the S-plane.

[0119] When the improved notch filter is added to the servo control system and the improved notch filter has an internal setting ω... d When the value is 3.14, the six system poles are solved using the same denominator of the fifth transfer function G5(s) and the sixth transfer function G6(s). See details... Figure 11 As shown, compared to Figure 9The fact that two new system poles are added, and both of these new system poles fall on the left half of the S-plane, indicates that the servo control system is stable.

[0120] In this embodiment of the invention, starting from the excitation signal generated when the robot's built-in servo motor rotates, the theoretical frequency of the excitation signal is directly set as the notch center frequency of the improved notch filter. Compared with the prior art, it is not necessary to calculate the robot's resonance frequency, which can more quickly and effectively suppress the robot's resonance behavior. By introducing a phase improvement coefficient as a control parameter inside the improved notch filter, compared with the double-T notch filter used in the prior art, the phase lag problem can be effectively improved, ensuring that the robot's servo control system has high stability.

[0121] Please refer to Figure 12 , Figure 12 This is a schematic diagram of the composition of a robot vibration suppression device provided in an embodiment of the present invention. The device includes:

[0122] Module 210 is used to build the servo control system of the robot, mainly including a position loop regulator, a speed loop regulator, an improved notch filter and a current loop regulator connected in sequence.

[0123] The control parameters inside the improved notch filter include notch width coefficient, notch depth coefficient, notch center frequency, and phase improvement coefficient.

[0124] The control module 220 is used to control the rotation of the servo motor built into the robot. The servo motor controls the load on the link side through a harmonic reducer. The servo control system generates an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself.

[0125] The setting module 230 is used to obtain the theoretical frequency of the excitation signal and then directly set it as the center frequency of the notch filter.

[0126] The suppression module 240 is used to control the improved notch filter to filter out components of the theoretical frequency in its input signal, so as to achieve vibration suppression of the robot.

[0127] The content of the above method embodiments is applicable to this system embodiment. The functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are the same as those in the above method embodiments. Therefore, they will not be repeated here.

[0128] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the robot vibration suppression method described in the above embodiments. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, the storage device includes any medium by which a device (e.g., a computer, mobile phone, etc.) stores or transmits information in a readable form, and can be a read-only memory, a disk, or an optical disk, etc.

[0129] also, Figure 13 This is a schematic diagram of the hardware structure of a computer device provided in an embodiment of the present invention. The computer device includes components such as a processor 320, a memory 330, an input unit 340, and a display unit 350. Those skilled in the art will understand that... Figure 13 The illustrated device structure is not intended to limit all devices and may include more or fewer components than shown, or combine certain components. The memory 330 can be used to store the computer program 310 and various functional modules. The processor 320 runs the computer program 310 stored in the memory 330, thereby performing various functional applications and data processing of the device. The memory can be internal memory or external memory, or include both internal and external memory. Internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or random access memory. External memory may include hard disks, floppy disks, USB flash drives, magnetic tapes, etc. The memory 330 disclosed in the embodiments of this invention includes, but is not limited to, these types of memory. The memory 330 disclosed in the embodiments of this invention is only an example and not a limitation.

[0130] Input unit 340 is used to receive signal input and user-input keywords. Input unit 340 may include a touch panel and other input devices. The touch panel can collect user touch operations on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel) and drive the corresponding connection device according to a pre-set program; other input devices may include, but are not limited to, one or more of physical keyboards, function keys (such as play control buttons, power buttons, etc.), trackballs, mice, joysticks, etc. Display unit 350 can be used to display user-input information or information provided to the user, as well as various menus of the terminal device. Display unit 350 may be in the form of a liquid crystal display, organic light-emitting diode, etc. Processor 320 is the control center of the terminal device, connecting various parts of the entire device through various interfaces and lines, performing various functions and processing data by running or executing software programs and / or modules stored in memory 330, and calling data stored in memory 330.

[0131] As one embodiment, the computer device includes a processor 320, a memory 330, and a computer program 310, wherein the computer program 310 is stored in the memory 330 and configured to be executed by the processor 320, and the computer program 310 is configured to perform the robot vibration suppression method in the above embodiment.

[0132] Although the description of this application has been quite detailed and particularly focused on several of the described embodiments, it is not intended to limit itself to any of these details or embodiments or any particular embodiment. Rather, it should be considered as effectively covering the intended scope of this application by referring to the appended claims and taking into account the prior art, which provides for a broad possible interpretation of these claims. Furthermore, the foregoing description of this application with respect to embodiments foreseeable by the inventors is intended to provide a useful description, and non-substantial modifications to this application that have not yet been foreseen may still represent equivalent modifications.

Claims

1. A method for suppressing robot vibration, characterized in that, The method includes: A servo control system for a robot is constructed, comprising a position loop regulator, a velocity loop regulator, an improved notch filter, and a current loop regulator connected in sequence. The control parameters of the improved notch filter include the notch center frequency, notch depth coefficient, notch width coefficient, and phase improvement coefficient. The servo motor built into the robot is controlled to rotate. The servo motor controls the load on the link side through a harmonic reducer. The servo control system generates an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself. Determine the theoretical frequency of the excitation signal and set the theoretical frequency as the center frequency of the notch filter; The improved notch filter is controlled to filter out components of the theoretical frequency contained in its input signal in order to suppress vibration in the robot; The transfer function of the improved notch filter is: In the formula, Let the transfer function of the improved notch filter be . Refers to complex variables, The notch width factor is... The notch depth coefficient is... The center frequency of the notch filter is... The phase improvement coefficient is denoted as .

2. The robot vibration suppression method according to claim 1, characterized in that, The harmonic reducer is equivalent to a torsion spring, and the mathematical model of the servo control system is determined with the connecting rod side as the reference: in, For electromagnetic torque, Given the motor position, This represents the actual motor position. Let be the transfer function of the position loop regulator. This is the actual motor speed. The transfer function of the speed loop regulator is... Let be the transfer function of the current loop regulator. For torsion spring torque, For the stiffness of the torsion spring, This is the damping coefficient of the torsion spring. The excitation signal is... For the link position, For motor inertia, This is the actual motor acceleration. The connecting rod lateral torque, This is the moment of inertia of the connecting rod. This is the acceleration of the connecting rod.

3. The robot vibration suppression method according to claim 2, characterized in that, The excitation signal is: in, For amplitude, For phase, To convert the actual motor speed The representation from the connecting rod side to the motor side, For harmonic deceleration ratio, For time.

4. The robot vibration suppression method according to claim 3, characterized in that, The theoretical frequency of the excitation signal is: in, The theoretical frequency of the excitation signal is... To give a given motor speed The representation from the connecting rod side to the motor side.

5. The robot vibration suppression method according to claim 1, characterized in that, The notch width factor is determined as follows: When the improved notch filter is not in use, the servo motor is controlled to rotate at different given motor speeds. In the servo control system, different excitation signals caused by the manufacturing and assembly errors of the harmonic reducer itself are generated to obtain the corresponding feedback motor speed curves. Based on the given motor speeds, determine the theoretical frequencies corresponding to the multiple excitation signals; Based on the multiple motor speed curves, determine the multiple actual frequencies corresponding to the multiple excitation signals; Based on the multiple theoretical frequencies and the multiple actual frequencies, multiple frequency deviations are determined; The notch width coefficient is determined based on the multiple frequency deviations, the notch center frequency, and the phase improvement coefficient.

6. The robot vibration suppression method according to claim 5, characterized in that, The notch width factor is: in, It is the maximum value among the plurality of frequency deviations.

7. A robot vibration suppression device, characterized in that, The device includes: A building module is used to build a servo control system for a robot. It includes a position loop regulator, a velocity loop regulator, an improved notch filter, and a current loop regulator connected in sequence. The control parameters of the improved notch filter include the notch center frequency, notch depth coefficient, notch width coefficient, and phase improvement coefficient. The control module is used to control the rotation of the servo motor built into the robot. The servo motor controls the load on the link side through a harmonic reducer. The servo control system generates an excitation signal caused by the manufacturing and assembly errors of the harmonic reducer itself. The setting module is used to determine the theoretical frequency of the excitation signal and set the theoretical frequency as the notch center frequency. A suppression module is used to control the improved notch filter to filter out components of the theoretical frequency contained in its input signal in order to suppress vibration of the robot; The transfer function of the improved notch filter is: In the formula, Let the transfer function of the improved notch filter be . Refers to complex variables, The notch width factor is... The notch depth coefficient is... The center frequency of the notch filter is... The phase improvement coefficient is denoted as .

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The processor executes the computer program to implement the robot vibration suppression method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the robot vibration suppression method as described in any one of claims 1 to 6.

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