针对工业机器人关节运动启停阶段，减速器柔性作用下连杆侧振动过大的问题。提出了一种期望动力学与输入整形相结合的抑振控制方法，基于双惯量模型建立了机器人柔性关节系统动力学方程，以零振动为目标推导了输入整形器的计算公式，同时根据系统期望参数设计了控制器力矩环和位置环的控制律，将期望动力学控制器与输入整形器相结合，探究了两者参数之间的对应关系，并与传统方法对比，验证了控制方法的可行性和有效性。结果表明，期望动力学与输入整形相结合的抑振控制方法，有效简化了输入整形器的设计过程，得到了更好的残余振动抑制效果；同时，该控制方法可以稳定柔性关节系统模态参数，使输入整形器在不同负载条件下均能保持较高的抑振性能，极大地高了抑振控制方法的鲁棒性；所提抑振控制方法能提高机器人运行精度，增加关节使用寿命。
Abstract
In order to suppress the vibration problem caused by reducer flexibility during the start-stop phase of industrial robot joint, a vibration suppression control method combining expectation dynamics and input shaping was presented. The dynamic equation for the robot flexible joint system was established, the calculation formula for the input shaper was deduced, and the control laws for the torque and position loops of the controller were designed according to the desired system parameters. The correspondence between the desired dynamic controller and input shaper parameters was explored, and the feasibility and effectiveness of the control method were verified. The results show that the vibration suppression control method, which effectively simplifies the design process of the input shaper, obtains a better residual vibration suppression effect, maintains a higher vibration suppression performance under different loading conditions, and can improve the operating accuracy and increase the service life of the joints.
关键词
工业机器人 /
柔性关节 /
残余振动控制 /
输入整形 /
期望动力学 /
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Key words
industrial robot /
flexible joint /
residual vibration control /
input shaping /
expected dynamics
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