在机器人应用中高精度的运动控制是非常重要的，然而当机器人抓持柔性部件运动时，柔性部件自由端不可避免的会产生振动，尤其当机器人末端执行器的运动方向与柔性负载的变形方向相同时，振动更加严重。本文针对此问题，采用输入整形技术来抑制柔性负载自由端的残余振动，从而实现高速高精度的点到点运动。为设计合理有效的输入整形器，采用基于傅立叶频谱分析和时域分析的模态参数识别算法估计机器人-臂系统的频率和阻尼。随后为了消除整形引起的轮廓误差，提出了一种在笛卡尔空间中沿轨迹方向的整形方法。最后搭建了机器人-柔性臂实验平台，对所述方法进行了验证。实验结果表明该方法不仅将柔性臂自由端的残余振动降低了约90%，而且消除了轮廓误差。
Abstract
The residual vibration of a flexible object is inevitable in the operation of industrial robots, especially when the direction of motion coincides with the direction of deflection.A method for controlling the vibration of a flexible beam manipulated by a 6 degrees-of-freedom industrial robot was presented in this study.To achieve a precise and rapid rest-to-rest motion, the input shaping technique was applied to address the above mentioned problem.First, to design a reasonable input shaper, a vibration parameter identification algorithm combined with Fourier spectrum and time domain analyses was used to estimate the natural frequencies and damping ratios of a robot-beam system.Second, a shaping technique along the path direction in Cartesian space was proposed to avoid a contour error.Finally, experiments were conducted.Results show that the proposed approach effectively reduces vibration by approximately 90% and eliminates the contour error simultaneously.
关键词
机器人 /
输入整形 /
残余振动 /
轮廓误差
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Key words
industrial robot /
input shaping /
residual vibration /
contour error
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