Vibration suppression method of flexible mechanical arm based on trajectory segmentation optimization

Abstract

The invention discloses a vibration suppression method of a flexible mechanical arm based on trajectory segmentation optimization. The approximate delay amount of the conventional vibration suppression method is derived based on the characteristics of the conventional vibration suppression method; the approximate delay compensation amount of the original track is deduced, the original track and the non-delay track are optimized in a segmented mode and then combined through cubic curve transition optimization, and finally the optimized track which is good in vibration suppression effect, free of delay and good in track middle section precision is achieved. According to the method, the vibration suppression function of the flexible mechanical arm is achieved, the characteristics of zero delay and good track middle section precision keeping are achieved, and parameters in the method can be modified and adjusted according to actual working conditions and requirements so as to meet requirements.

Description

technical field [0001] The invention relates to a vibration suppression method for a flexible mechanical arm of an industrial robot, in particular to a vibration suppression method for a flexible mechanical arm based on trajectory segmentation optimization. Background technique [0002] Modern industry uses more and more industrial robots, and at the same time has higher and higher performance requirements for industrial robots, and the performance of an industrial robot includes speed, accuracy, etc., due to the complex flexibility of the mechanical arm structure of industrial robots Factors, the high-speed operation of industrial robots is easy to excite the vibration of the flexible manipulator of the industrial robot, thus affecting the accuracy of the industrial robot, and the current traditional vibration suppression method of the flexible manipulator is difficult to ensure the accuracy while ensuring the vibration suppression effect. In this context, how to make the f...

AI Technical Summary

Problems solved by technology

[0009] In order to overcome the defects of the time-delay characteristics and poor precision of the existing conventional vibration suppression algorithms for industrial robots, the present invention proposes a vibration suppression method for flexible manipulators based on trajectory segmentation optimization. In the case of known original trajectory Next, by segmentally optimizing the original trajectory, the optimized trajectory has a good vibration suppression effect, and at the same time, it can have the same running time as the original trajectory, and there is only a small deviation from the original trajectory at the beginning and end of the trajectory. Vibration Suppression Method with Segment Maintaining Good Accuracy

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