The Influence of Structural Dynamics on Cascaded Joint Position Control of a Flexible Beam with a Compliant Gear
The Influence of Structural Dynamics on Cascaded Joint Position Control of a Flexible Beam with a Compliant Gear
复制标题
结构动力学对柔顺齿轮柔性梁级联关节位置控制的影响
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
D. Rixen
中科院分区：
文献类型：
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作者：
Tobias F. C. Berninger;Chenhong Huang;Marvin A. Ochsenius;D. Rixen
机器人操作器的结构动力学对其整体动力学行为有很大的影响。它们会导致不必要的谐振，限制控制带宽并导致不稳定。由于这个原因，大量的研究集中在考虑机器人结构动力学的先进控制方法的发展上。然而，由于这些技术的复杂性和对精确模型的依赖，它们在实践中仍然很少被采用。机器人关节的一种流行的分散控制方案是电机的级联位置、速度和电流控制。本文的目的是可视化的影响，柔性梁和柔性谐波传动齿轮的结构动力学对这种类型的联合控制器。推导的效果主要依靠模拟和测量的传递函数来解释，而不使用典型的方程。还研究了在柔性齿轮之后利用来自电机侧或关节侧的位置反馈闭合控制回路之间的差异。首先使用柔性多体仿真生成的结果，然后在机器人关节试验台上进行验证。
The structural dynamics of a robot manipulator can have a large influence on its overall dynamic behavior. They can cause unwanted resonances, limit the control bandwidth and lead to instability. For this reason, a significant amount of research has focused on the development of advanced control methods which consider the structural dynamics of a robot. These techniques are, however, still rarely employed in practice due to their complex nature and reliance on accurate models. A popular decentralized control scheme for robot joints is cascaded position, velocity and current control of the motor. The goal of this paper is to visualize the influence of the structural dynamics of a flexible beam and flexible harmonic drive gear on this type of joint controller. The derived effects are explained by mainly relying on simulated and measured transfer functions, without the use of the typical equations. The difference between closing the control loop with position feedback from the motor side or on the joint side after the flexible gear is also investigated. The results are first generated using a flexible multibody simulation and later verified on a robot joint test rig.