Vibration suppression method for stopping process section of industrial robot

An industrial robot and vibration suppression technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as time-lag joint ends and time delays, and achieve the effects of easy modularization, convenient use, and elimination of jitter and residual vibration

Active Publication Date: 2020-11-20
NANJING ESTUN ROBOTICS CO LTD +1
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Problems solved by technology

However, for the stopping process with extremely strict time and distance requirements, it is usually only treated as a general wo...

Method used

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  • Vibration suppression method for stopping process section of industrial robot
  • Vibration suppression method for stopping process section of industrial robot
  • Vibration suppression method for stopping process section of industrial robot

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Embodiment Construction

[0059] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0060] The active vibration suppression method during the stopping process of the industrial robot of the present invention not only ensures the timeliness of stopping, but also greatly reduces the process vibration and residual vibration. , easy to modularize, easy to use and cross-platform transplantation.

[0061] Refer to attached figure 1 , the concrete steps of the inventive method are as follows:

[0062] The idea of ​​the invention is used to design the stop processing module of the industrial robot, which can be used for the control of each joint of the robot respectively. For example, for joint 1, its main resonance frequency point obtained by frequency sweep method is ω=7.5Hz, therefore, the selected frequency range to be filtered is ω 1 =7Hz to ω 2 = 8Hz.

[0063] Select a polynomial of degree 12 as the planning ...

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Abstract

The invention discloses a vibration suppression method for a stopping process section of an industrial robot. From the perspective of a signal system, each joint end is directly planned, and a discrete Fourier transform amplitude range of a designed trajectory is taken as a objective function to enable a ratio of amplitude of main resonance frequency of each specific joint end in a planned deceleration section trajectory to be the smallest. Meanwhile, the objective function is made to meet the constraint conditions of ensuring the second-order continuity of the trajectory (c2) and ensuring themonotonicity of speed and the maximum acceleration amplitude limiting, finally, trajectory parameters are obtained by a method of convex optimization, and then the stop motion is completed by real-time interpolation. According to the vibration suppression method, an acceleration trajectory of each joint is directly optimized, so that the ratio of amplitude near a resonance point in a frequency domain is minimized, and then active vibration suppression is realized; and meanwhile, the method can reduce the delay caused by the inverse solution of calculation load, the time lag caused by shapingor notching is avoided, the preset stop time machine running distance is strictly guaranteed, and the safety of personnel and equipment is ensured.

Description

technical field [0001] The invention relates to a method for suppressing vibration of an industrial robot, in particular to a method for suppressing vibration of an industrial robot during the stop process. Background technique [0002] With the gradual accumulation of automation technology, the industrial robots launched by major manufacturers are not only rich in types, but also have increasingly perfect performance. Among them, regardless of safety considerations or process requirements, the stop mechanism of industrial robots will be one of the key indicators to measure the performance of robots. [0003] The robot quickly switches from the high-speed running state to the stopped state, such as the processing after collision detection or the triggering of the emergency stop button. threaten. [0004] For the vibration suppression of robots, from the perspective of control algorithms, fruitful results have been achieved, such as the Chinese invention patent document "A ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1664B25J9/1651B25J9/1612B25J19/0091
Inventor 杨晓文王继虎钱巍
Owner NANJING ESTUN ROBOTICS CO LTD
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