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

被引：0

作者：

Zhou, Tao ^{[1
]}

Xiao, Zhengming ^{[1
,2
]}

Yu, Shike ^{[3
]}

Duan, Junjie ^{[1
]}

机构：

[1] Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming

[2] Yunnan Provincial Key Lab of Intelligent Manufacturing Technology for Advanced Equipment, Kunming

[3] Kunming Branch, 705th Institute, China Shipbuilding Corporation, Kunming

来源：

Zhendong yu Chongji/Journal of Vibration and Shock | 2025年 / 44卷 / 01期

关键词：

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

D O I：

10.13465/j.cnki.jvs.2025.01.009

中图分类号：

学科分类号：

摘要：

Here, aiming at the problem of excessive vibration on connecting rod side under flexible aetion of redueer during start-stop phase of industrial robot joint motion, a vibration suppression eontrol method eombining expeeted dynamics and input shaping was proposed. Based on a dual-inertia model, the dynamic equation of a robot flexible joint system was established, and the calculation formula of an input shaper was derived taking zero vibration as the goal. At the same time, control laws of torque loop and position loop of the controller were designed according to the expected parameters of the system. The expected dynamics controller was combined with the input shaper to explore the corresponding relation between the two parameters. Compared with traditional methods, the feasibility and effectiveness of the proposed control method was verified. The results showed that the proposed vibration suppression eontrol method combining expeeted dynamics with input shaping effectively simplifies the design process of input shaper and obtains better residual vibration suppression effect; meanwhile, this control method can stabilize modal parameters of the flexible joint system, and enable the input shaper to keep higher vibration suppression performance under different load conditions, and greatly improve the robustness of the vibration suppression control method; the proposed vibration suppression control method can improve the accuracy of robot operation and increase the service life of joints. © 2025 Chinese Vibration Engineering Society. All rights reserved.

引用

页码：82 / 89

页数：7

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