关节型工业机器人扭转振动的伺服补偿技术研究

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Abstract The dynamic instability of an industry robot is often influenced by the transmission error of its RV reducer.For analysing its mechanism, an electro-mechanical system comprised of motor, RV reducer and load was established.Considering the difficulty of attaching a sensor at the load side of the industry robot, and according to the principle that torque vibration causes rotating speed vibration, the derivative of acceleration at the load side which was derived by a state observer was taken as a feedback variable to compensate for the torque of the motor.The numerical results in time-domain and frequency-domain show that the compensated torque of motor can offset the torque vibration, and the speed vibration at the load side can be suppressed satisfactorily.The proposed system can improve the dynamic precision of industry robots when the working condition is suddenly changed.

Key words： RV reducer observer torsional vibration industry robot

Received: 16 October 2018 Published: 28 April 2020

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	Articles by authors
	WU Zhenyu1
	2
	YUAN Huiqun3
	LUO Baojia2
	ZHAN Mingru2

Cite this article:

WU Zhenyu1,2,YUAN Huiqun3, et al. Servo compensation technology for the torsional vibration of industry robots[J]. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(9): 132-137.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2020/V39/I9/132

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