Robot joint vibration suppression control based on expected dynamics combined with input shaping

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Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (1) : 82-89.

VIBRATION THEORY AND INTERDISCIPLINARY RESEARCH

Robot joint vibration suppression control based on expected dynamics combined with input shaping

ZHOU Tao1, XIAO Zhengming*1,2, YU Shike3, DUAN Junjie1

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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.

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industrial robot / flexible joint / residual vibration control / input shaping / expected dynamics

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ZHOU Tao1, XIAO Zhengming1, 2, YU Shike3, DUAN Junjie1. Robot joint vibration suppression control based on expected dynamics combined with input shaping[J]. Journal of Vibration and Shock, 2025, 44(1): 82-89

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