Vibration suppression control method for robot joint servo system

Abstract

The invention provides a vibration suppression control method for a robot joint servo system. An input module, a speed loop controller, a current loop controller and an inertia load are included; theinput module is connected with the speed loop controller, and the speed loop controller is connected with the current loop controller; and the current loop controller is connected with the inertia load, and the inertia load is connected with an output module. The vibration suppression control method is characterized in that a compensating torque observer is further included; the current loop controller is connected with the compensating torque observer; and the speed loop controller is connected with the compensating torque observer. The vibration suppression control method has the beneficialeffects that a control algorithm integrated in each joint servo driver can have a control strategy of eliminating or relieving vibration, and appropriate control or compensating actions are made for respective mechanical vibration.

Description

technical field [0001] The invention relates to a robot joint servo drive technology, in particular to a vibration suppression control method for a robot joint servo system. Background technique [0002] From the point of view of the servo system, the load of the multi-joint manipulator is theoretically a servo system with flexible characteristics for each joint servo motor. [0003] A flexible servo system is prone to vibration when the control loop gain is increased, which is a typical characteristic of flexible systems. This vibration may cause damage to the mechanical system, and may also cause a decrease in the positioning accuracy of the mechanical arm. The general method is to reduce or eliminate the vibration under the control of the control loop or under the compensation of a special filter. In some cases, when the vibration frequency is high and the amplitude is small, it is sometimes difficult to be observed, but it actually seriously affects the positioning acc...

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Problems solved by technology

[0005] Disadvantages of this patent: firstly, an acceleration sensor needs to be installed at the end of the mechanical arm, which increases the physical cost and the complexity of the system hardware; thirdly, the vibration reduction control system exists independently of the robot control system, and this implementation has both advantages and disadvantages , but in general it increases system cost and installation and commissioning workload, and because it is an independent system, it also increases potential reliability problems

[0009] The robot arm servo joint system is theoretically a flexible servo system, which is easy to vibrate, and the vibration will cause the movement error of the manipulator

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