一种柔性机械臂的振动抑制方法
By constructing excitation trajectories and using data-driven methods to locate vibration sources in flexible robotic arms, and combining dynamic characteristic modeling and compensation, the problem of accurately locating vibration sources in flexible robotic arms was solved, achieving effective vibration suppression and improved system stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UNIV OF SCI & TECH OF CHINA
- Filing Date
- 2026-05-14
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies struggle to accurately locate vibration sources and effectively suppress vibrations in flexible robotic arms, especially in multi-degree-of-freedom, strongly coupled systems. Existing methods rely on analytical models and are difficult to adapt to the time-varying characteristics of the system.
By constructing an excitation trajectory to collect joint response data, using cross-correlation coefficients and time delay analysis to locate the vibration source, and combining flexible joint dynamic characteristic modeling and data-driven compensation, time-varying input shaping is achieved to suppress vibration.
It enables rapid and reliable positioning of the main vibration-excited joints in a flexible robotic arm, and significantly reduces residual end-effector vibration by adaptively updating the input shaper, thereby improving operational stability and safety.
Smart Images
Figure CN122185301B_ABST