Minimization method of both vibration suppression and path tracking error for robot manipulator.

实现对工业机器人运动的快速、精确控制具有重要意义。然而，工业机器人经常会产生振动，这是由机器人的谐振频率和来自机器人各个关节的非线性干扰力引起的。在这种情况下，用于产生参考的陷波滤波方法对于抑制谐振现象是有用的。然而，由于陷波滤波器的相位延迟变大，使得机器人运动的路径跟踪误差增大，为了克服这些问题，本文提出了一种无相位延迟的零相位陷波滤波器，用于快速路径跟踪。此外，本文提出了一种基于动态前馈补偿的D-PD控制的快速位置控制方法。使用这些策略，本文实现了快速，准确的机器人运动控制无振动和超调。

It is important to achieve rapid and accurate control of the motion of industrial robots. However, industrial robots often have vibration which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. In this case, the notch filtering method for generating a reference is useful for suppressing the resonant phenomenon. However, the path tracking error of the robot motion increases because phase delay becomes large by using the notch filter.In order to overcome these problems, this paper proposes a zero-phase notch filter without phase delay for fast path tracking. Moreover, this paper proposes a fast position control method based on D-PD control with dynamic feed-forward compensation. Using these proposed strategies, this paper achieves fast and accurate robot motion control without vibration and overshoot.