Two-degree-of-freedom vibration suppressor decoupling control method and system

Abstract

The application belongs to the technical field of robots, and discloses a robot two-degree-of-freedom vibration suppressor decoupling control method and system. The method analyzes the structural characteristics of the robot system, designs a decoupling control strategy by using the structural invariance principle, and effectively eliminates the coupling vibration of the force applied in the X direction in the Y direction and the coupling vibration of the force applied in the Y direction in the X direction. Compared with the traditional vibration control method, the application fully considers the influence of the pose-related mode and the coupling mode of the robot, can efficiently and timely realize multi-degree-of-freedom vibration suppression under complex load and dynamic environment, has high adaptability and control accuracy. The technology has wide application prospects in the fields of robot precision machining, assembly, handling and the like, and can significantly improve the stability, precision and working efficiency of the robot system.

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 intelligentization, robots are widely used in precision machining, assembly, and handling tasks. The tandem structure of robots results in low stiffness at the end of the robot, which is prone to significant vibration under the action of cutting forces. This severely impacts machining accuracy and surface quality during robotic milling, hindering the development of robotic milling. Especially in high-load, high-precision scenarios, robots are often subject to vibration interference while performing tasks. This vibration primarily originates from the inertia of the robot's moving parts, external interference forces in the working environment, and dynamic impact forces generated during the task. These vibrations can significantly affect the robot's positioning accuracy, trajectory stability, and machining quality. In the field of vibration control, traditional vibration suppression methods focus on control in a single degree of freedom. However, modern robots often have multiple degrees of freedom, and vibrations in different directions can couple with each other. For example, applying control force in the X-direction to suppress vibration often induces coupled vibration in the Y-direction, causing vibrations to transfer and superimpose between different degrees of freedom, thus affecting the overall stability of the system.

[0003] At present, vibration control technologies include 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 vibration 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 various directions.

[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 existing technology 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 have difficulty in effectively separating or offsetting this coupling, resulting in the vibration control force in one direction causing a response in the other direction, making the overall vibration of the system more difficult to control.

[0007] (2) Under complex loads and dynamic tasks, the system's vibration transmission path has significant nonlinearity, which poses a great challenge 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 as follows: 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] Furthermore, 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 of the X-direction and Y-direction coupling; x(t) and y(t) represent the system under the external force f x (t) and fy (t) corresponding vibration displacement in the X and Y directions, and Represent the vibration velocity and acceleration of the system in the X and Y directions, respectively. 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 make the X direction only subject to the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the X-direction vibration. Aiming at the coupled vibration problem caused by the XY-direction control force, 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 X and Y direction vibration, the control force F in the X direction vibration equation cy (s) The corresponding coefficient 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 decoupling 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] Elimination module, used to analyze the structural characteristics of the robot system and design a decoupling control strategy based on the principle of structural invariance, to eliminate the coupled vibration of the force applied in the X direction in the Y direction, and to 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, which includes 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, causes the processor to execute 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. Improved machining and operational accuracy: By reducing vibration coupling between different directions, robotic systems can reduce vibration-induced position errors when performing high-precision tasks (such as precision machining and assembly), ensuring trajectory and positioning accuracy. This is of great significance for industrial applications with extremely high precision requirements, helping to improve product processing quality and consistency.

[0040] 2. Enhanced system stability and reliability: Effective decoupled vibration control independently suppresses vibration in different directions, preventing vibration transmission and amplification across multiple degrees of freedom, and improving overall system stability. This is particularly critical for robot control in high-load scenarios, extending equipment life and reducing vibration-related failures and maintenance costs.

[0041] 3. Promoting the industrial application of vibration control for multi-degree-of-freedom robots: Traditional multi-degree-of-freedom vibration control methods are often difficult to apply to real-world industrial scenarios. However, the feedforward decoupling control method proposed in this paper, based on structural invariance, achieves efficient decoupled vibration suppression while maintaining a simple control system. This solution, with its strong versatility and adaptability, provides a viable application for vibration control of multi-degree-of-freedom robots in a variety of industrial tasks, promoting technological advancement and innovation in this field.

[0042] The present invention relates to a decoupling control method for a two-degree-of-freedom vibration suppressor in a robot, primarily used to address the vibration coupling problem caused by applied forces in multi-degree-of-freedom robot systems. Specifically, by utilizing the principle of structural invariance of the robot system, the present invention achieves decoupling of the coupled vibration control of the force applied in the X direction in the Y direction, and vice versa. This effectively suppresses the vibration coupling phenomenon in the multi-degree-of-freedom robot system, improving the accuracy and stability of robot processing. The method is particularly suitable for high-load, high-dynamic applications such as robot milling and precision grinding and polishing.

[0043] This invention achieves independent control of vibration directions in a multi-degree-of-freedom robotic system through decoupling control based on the principle of structural invariance. This successfully reduces the coupled vibrations in the Y direction caused by forces applied in the X direction, and vice versa. This decoupling control significantly improves the stability of the robotic system, maintaining its stability and reliability, particularly under complex loads or dynamic conditions.

[0044] The decoupling control strategy of this invention can effectively reduce errors caused by coupled vibrations, thereby significantly improving the operating accuracy of robotic systems. This is particularly critical for applications requiring extremely high precision, such as precision machining and medical surgery. The application of this invention reduces the impact of vibration errors. Its high precision, high stability, and energy-saving effects not only provide a better solution for robotic systems, but also improve production efficiency, reduce error losses, and lower maintenance costs, resulting in significant economic benefits.

[0045] By reducing structural fatigue and wear caused by vibration coupling, the decoupling control scheme of this invention significantly improves the reliability and service life of the robot system. Especially in high-load and continuous operation scenarios, this 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 for 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 can also 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 traditional vibration control technology regarding the limitations of multi-degree-of-freedom vibration control. Existing technologies typically focus on suppressing 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 research and applications, control strategies are optimized for vibration problems in a single direction, resulting in an inability to effectively address the complex coupled vibrations in multi-degree-of-freedom systems. The present invention overcomes this prejudice by achieving independent suppression of vibrations in different directions through a decoupling control method, effectively reducing the impact of forces applied in the X direction on the Y direction, and vice versa, solving the problem of directional coupled vibrations in multi-degree-of-freedom systems. This innovative solution breaks through the limitations of traditional control methods that are limited to a single direction and provides a new multi-directional coupled vibration suppression technology. It provides a new, multi-degree-of-freedom vibration decoupling control method, making vibration suppression in multi-degree-of-freedom systems possible and providing an efficient, real-time, and achievable solution under high loads, complex working conditions, and high-dynamic environments. This breakthrough technology will promote the application of robotic systems in multiple high-precision fields and further enhance the development of vibration control technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This 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 This is a structural block diagram of a decoupling control system for a robot with two degrees of freedom vibration suppressor provided by an embodiment of the present invention;

[0053] Figure 3 This 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 Schematic diagram of decoupling control of a two-degree-of-freedom vibration suppressor of a robot based on the principle of structural invariance provided by an embodiment of the present invention;

[0055] Figure 5 This 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 This is a comparison diagram of the measured acceleration of the X-direction control force before and after the decoupling vibration control is enabled, provided by an embodiment of the present invention;

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

[0058] In order to make the purpose, technical solutions 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 intended 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 includes 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, analyzes the influence of the robot's posture-related modes and coupled modes, and efficiently and in real time suppresses multi-degree-of-freedom vibrations under complex loads and dynamic environments.

[0062] The method of the present invention first 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 and Y directions. 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 localized vibration effects. Through this decoupling design, it is possible to ensure 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 a robotic system, changes in its posture and varying load conditions introduce new modal characteristics that can exacerbate the system's coupled vibrations. To address this issue, this method dynamically analyzes the robot's posture-related modes and coupled modes, identifying how the system's natural frequencies and modal parameters change under different postures. By constructing a real-time modal analysis model and combining it with sensor-generated posture and load data, the system can capture the impact of posture changes on coupled vibrations in real time, providing accurate dynamic input for subsequent vibration suppression control.

[0064] This method proposes an efficient, real-time vibration suppression strategy for multi-degree-of-freedom vibrations under complex loads and dynamic environments. A state observer monitors the vibration state of each robot's degrees of freedom in real time, and a feedback control algorithm precisely suppresses coupled vibrations. Furthermore, an adaptive control method automatically adjusts the controller's gain coefficient based on parameter changes during system operation, ensuring excellent vibration suppression performance in dynamic environments. This real-time multi-degree-of-freedom control enables the robot system to achieve stable vibration suppression under high-speed operation and complex load conditions.

[0065] In the integrated implementation of decoupling control and vibration suppression schemes, this method combines a 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 effects of vibration coupling between degrees of freedom. Second, based on posture modal analysis results and sensor feedback, real-time dynamic adjustment is achieved. Through this integrated system design, the robot can effectively suppress two-degree-of-freedom vibration responses in complex dynamic working environments, improving the system's motion accuracy and stability, and ensuring efficient and reliable operation.

[0066] In summary, the present invention forms an efficient and real-time decoupling control method for a two-degree-of-freedom vibration suppressor of a robot through the design of decoupling strategy based on the principle of structural invariance, dynamic modal analysis, feedback adaptive control and system integration, 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 of the X-direction and Y-direction coupling; x(t) and y(t) represent the system under the external force f x (t) and f y (t) corresponding vibration displacement in the X and Y directions, and Represent the vibration velocity and acceleration of the system in the X and Y directions, respectively. 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 make the X direction only subject to the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the X-direction vibration. Aiming at the coupled vibration problem caused by the XY-direction control force, 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 X and Y direction vibration, the control force F in the X direction vibration equation cy (s) The corresponding coefficient 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 decoupling 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] Elimination module, used to analyze the structural characteristics of the robot system and design a decoupling control strategy based on the principle of structural invariance, to eliminate the coupled vibration of the force applied in the X direction in the Y direction, and to 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, which includes 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, causes the processor to execute 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 for a two-degree-of-freedom vibration suppressor of a robot 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, by utilizing the structural invariance principle of the robot system, 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, 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 to traditional CNC machine tools, serial industrial robots have lower stiffness. In CNC machine tools, the X and Y directions are typically considered independent. However, in robotic milling systems, forces applied in the X direction will produce coupled accelerations in the Y direction, especially when the stiffness in either the X or Y direction is large, while the XY coupled stiffness is small. Therefore, the acceleration caused by the coupling between the X and Y directions in the robot cannot be ignored. The robot can be viewed 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 Indicates the coupled modal mass, coupled modal damping and coupled modal stiffness of the X-direction and Y-direction coupling. x(t) and y(t) represent the system under the external force f x (t) and f y (t) corresponding vibration displacement in the X and Y directions, and represent the vibration velocity and acceleration of the system in the X and Y directions, respectively. 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 robot's XY direction. This method decouples the robot's XY control system, greatly simplifying the control system design.

[0103] The two-degree-of-freedom vibration suppressor can independently output control forces in the X and Y directions to the main system. However, due to the coupling of the robot system in the X and Y directions, the control force applied in the X direction not only generates corresponding vibration in the X direction, but also causes 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 make the X direction only subject to the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the X-direction vibration. Aiming at the coupled vibration problem caused by the XY-direction control force, 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 the 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 X and Y direction vibration, the control force F in the X direction vibration equation cy (s) The corresponding coefficient 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 decoupling controller can be expressed as:

[0114]

[0115] By designing a decoupling controller 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, vibration controllers can be designed for the X and Y directions separately without considering the coupling effect of the two-degree-of-freedom vibration suppressor output control force on the robot system, which greatly reduces the complexity of 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 robotic 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 enhance the applicability of robotic 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, 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 accelerations in the X and Y directions before and after the two-degree-of-freedom vibration suppressor proposed by the present invention are 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 and green lines represent the root mean square values ​​of the accelerations in the X and Y directions, respectively. When a driving force of a specified magnitude and frequency is applied in the X direction, the accelerations in the X and Y directions are 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 by the control force applied in the X direction in the Y axis, and can also effectively reduce the coupled vibration generated by the control force applied in the Y direction in the X 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 portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, 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. The devices and 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, 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, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0123] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection 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 and using the principle of structural invariance, a feedforward decoupling control strategy is designed 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 efficiently and in real time suppress multi-degree-of-freedom vibrations under complex loads and dynamic environments; The method for eliminating the coupled vibration in the Y direction caused by the force applied in the X 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 of the X-direction and Y-direction coupling; 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 from the vibration suppressor to the robot in the X and Y directions respectively, G xy (s), G yx (s) represents the coupling transfer function from the vibration suppressor to the robot in the X and Y directions, 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 make the X direction only subject to the control force F cx (s) and the control force F cy (s) is regarded as a disturbance to the X-direction vibration. Aiming at the coupled vibration problem caused by the XY-direction control force, 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 X and Y direction vibration, the control force F in the X direction vibration equation cy (s) The corresponding coefficient 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 decoupling controller can be expressed as:

2. 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 according to claim 1, characterized in that: The robot two-degree-of-freedom vibration suppressor feedforward decoupling control system includes: Elimination module, which is used to analyze the structural characteristics of the robot system and design a feedforward decoupling control strategy based on 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.

3. 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 performs the steps of the feedforward decoupling control method of the robot two-degree-of-freedom vibration suppressor according to claim 1.

4. 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 according to claim 1.

5. 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 claimed in claim 2.

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