Method for restraining flexible arm tail end vibration of robot

Abstract

The invention discloses a method for restraining flexible arm tail end vibration of a robot. The method comprises a robot flexible arm, a control system and a processing system for providing a control command signal to the control system. The method comprises the following processing steps of: computing a point vibration displacement transfer function of the tail end of the flexible arm according to driving torque of the flexible arm; computing an optimal input shaping transfer function with smallest residual vibration according to natural frequency and damp of the flexible arm; performing normalization process on the optimal input shaping transfer function; selecting the lag time of an optimal input shaper according to the movement speed of the flexible arm, thus obtaining the optimal input shaper; performing convolution on an input command signal and the optimal input shaper to obtain a new input command signal, discretizing the new input command signal, and transferring the discretized input instruction signal; and refreshing the instruction signal of the control system with the servo cycle serving as the time interval until the end. The method can be used for effectively restraining the vibration at the tail end of the robot flexible arm, improving the follow accuracy and achieving the quick and accurate positioning on the robot flexible arm.

Description

technical field [0001] The invention relates to the control field of a flexible arm of an environment detection robot, in particular to a method for suppressing vibration at the end of the flexible arm of a robot. Background technique [0002] In order to facilitate detection and search, the detection module of the environment detection robot is usually installed at the end of the robot arm. In order to meet the fast and accurate positioning movement of the robot arm, a flexible manipulator is often used. However, the flexible manipulator will produce elastic deformation during the movement, which will cause the vibration of the end of the flexible arm (also called residual vibration), the vibration time and the flexible arm The movement speed is proportional to the movement speed, ranging from a few seconds to tens of seconds, or even more, resulting in unstable movement of the flexible manipulator, poor tracking accuracy, and difficulty in fast and precise positioning, whi...

AI Technical Summary

Problems solved by technology

However, these control methods have shortcomings. Although the linear control of the flexible arm can make the system reach the designated position, the index of arrival time is not good enough to meet the requirements of fast positioning; the use of feedback control methods needs to change the control structure of the system and increase hardware Equipment complicates the system and increases control costs

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