High performance robot motion control based on zero phase error notch filter and D-PD control
High performance robot motion control based on zero phase error notch filter and D-PD control
复制标题
DOI：
10.1109/icmech.2009.4957196
复制
发表时间：
2009-04
期刊：
影响因子：
--
通讯作者：
Satoru Kumagai;K. Ohishi;T. Miyazaki
中科院分区：
文献类型：
--
作者：
Satoru Kumagai;K. Ohishi;T. Miyazaki
提出了一种新的工业机器人运动控制策略。在工业机器人高速、高精度的条件下，对机器人的运动进行调节是十分重要的。然而，工业机器人经常存在由机器人的谐振频率和其他关节的非线性干涉力所产生的振动现象。为了克服这些问题，本文首先提出了一种新的无相位误差的零相位误差陷波滤波器作为快速路径跟踪参考。其次，提出了一种基于动态转矩补偿的D-PD控制的快速位置控制方法。利用这些方法，实现了机器人运动的快速精确控制，无振动现象和超调现象。实验结果表明，所提出的控制方法能够平稳、快速地调节快速精确的路径跟踪控制。
This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems, at first, this paper proposes a new zero phase error notch filter which has no phase error for the fast path tracking reference. Next, this paper proposes a new fast position control method based on D-PD control with dynamic torque compensation. Using these methods, this paper realizes the fast accurate robot motion control without vibration phenomenon and overshoot. The experimental results confirm that the proposed control method well regulates the fast accurate path tracking control smoothly and rapidly.