Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot
Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot
复制标题
基于考虑收敛时间和惯量变化的最终状态控制的工业机器人减振控制
DOI：
10.1541/ieejjia.3.236
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Y. Yokokura
中科院分区：
文献类型：
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作者：
T. Yoshioka;Naoki Shimada;K. Ohishi;T. Miyazaki;Y. Yokokura
工业机器人需要高速、高精度的运动，以提高生产率和产品质量。然而，由于工业机器人的关节轴具有轴向扭矩，高速运动会激发残余振动。另外，通过末端执行机构改变工业机器人的转动惯量。因此，需要进行鲁棒的减振控制。然而，同时实现鲁棒减振控制和高速运动控制是困难的。针对工业机器人提出了一种新的终态控制方法，该方法考虑了收敛时间和惯性变化。该方法将最终状态控制应用于每个关节的整个运动控制系统。为了使末端执行器达到期望的收敛时间，利用所提出的流程图重新设计了最终的状态控制轮廓。数值仿真和三自由度机械手实验验证了该方法的有效性。
Industrial robots require high-speed and high-precision motion for improvements in productivity and product quality. However, high-speed motion excites residual vibration because the joint axis of the industrial robot has axial torsion. In addition, the inertia moment of the industrial robot is changed by the end-effector tool. Therefore, robust vibration suppression control is required. However, achieving both robust vibration suppression control and high-speed motion control is difficult. This paper proposes a new final state control method that considers the convergence time and inertia variation for an industrial robot. The proposed method applies final state control to the entire motion control system of each joint. To achieve the desired convergence time for the end-effector, the final state control profile is redesigned by using a proposed flowchart. The effectiveness of the proposed method is confirmed by a numerical simulation and an experiment using a 3-degree-of-freedom robot manipulator.