Flexible torque feed-forward control of robots in the flexible dynamics model

被引：0

作者：

Zhang T. ^{[1
]}

Zhang A. ^{[1
]}

Qin B. ^{[1
]}

Liu X. ^{[2
]}

机构：

[1] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou

[2] Guangxi Key Laboratory of Robotics and Welding, Guilin University of Aerospace Technology, Guilin

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2019年 / 40卷 / 08期

关键词：

Feed-forward compensation; Flexible body dynamics; Flexible position; Robot; Stiffness coefficient identification;

D O I：

10.11990/jheu.201807001

中图分类号：

学科分类号：

摘要：

In this work, we aimed to solve the problem of robot's dynamic resonance hysteresis caused by complex structure, joint coupling, and nonlinear time-varying control and the problem of mechanical resonance caused by flexible factors. We achieve this objective by proposing a method for improving the compensation of rigid body feed-forward torque and for the feed-forward compensation control of flexible torque based on the flexible body dynamics model. Our method establishes the dynamics model of robot flexible joints and identifies the torsional stiffness parameters of flexible joints and the minimum inertia parameters necessary to obtain the location, speed, and acceleration information of the preset track under flexible factors with high accuracy and thus enable the calculation of the required torque value under the condition of flexible joints. The calculated values are considered as the feed-forward quantity and are sent in the form of the T cycle to the bottom of the servo driver. The values refresh the driver in real time and are superimposed in the form of compensation with the current loop output to enable flexible robot control. The amplitude of vibration acceleration at the end of the robot is reduced by 60%. Positioning accuracy is also improved. We perform an experiment to verify the value of the flexible torque feed-forward control method based on the flexible body dynamics model in engineering applications. © 2019, Editorial Department of Journal of HEU. All right reserved.

引用

页码：1509 / 1516

页数：7

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