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Vibration control of robot to combine flexible body dynamics and joint torque feedback |
LI Lin, GU Zhichao, ZHANG Tie |
School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510641, China |
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Abstract Flexible transmission components of industrial robots reduce joint’s stiffness, resulting in vibration problem at the end. Firstly, flexible joint control system was modeled, vibration characteristics were analyzed, and vibration suppression principle of joint torque feedback was briefly described. Since most commercial industrial robots aren't equipped with joint torque sensors, and there is gravitational and frictional torque. Secondly, flexible dynamic equations were established and identified method based on ordinary least squares was given, then a real-time joint torque estimation method was proposed. Finally, experiments were conducted on a 6-DOFs industrial robot. Identification experiment of dynamics shows that dynamic model can accurately estimate motor torque, and vibration control experiment shows that under proportional control, arc and linear vibration energy can be reduced by 27.61% and 26.25%, respectively; while under proportional-differential control, reduced by 37.56% and 41.00%, under ‘compensation + PD’ control, reduced by 38.32% and 45.63%. The effectiveness of joint torque control basing robot’s dynamics is verified.
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Received: 20 January 2021
Published: 15 June 2022
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