Flexible joint jitter suppression method and system based on trajectory optimization control
A flexible joint and trajectory optimization technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as equipment running lag, residual jitter, end jitter, etc., and achieve the effect of improving operating efficiency, improving residual jitter, and acceleration optimization.
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[0058] The method for suppressing vibration of a flexible joint based on trajectory optimization control and the technical solution of the system of the present invention will be further described in detail in conjunction with embodiments below.
[0059] Such as figure 1 As shown, the method for suppressing vibration of flexible joints based on trajectory optimization control in this embodiment includes: S1~S2
[0060]S1. Obtain the original trajectory and motion data of the flexible joint motion of the robot, extract key trajectory information based on the original trajectory on the trajectory motion coordinate system, and establish a flexible joint model based on the motion data;
[0061] S2. Based on the key trajectory information and the flexible joint model, use finite Laplace transformation to obtain an optimized trajectory of the flexible joint of the robot.
[0062] further, such as figure 2 As shown, based on the key trajectory information and the flexible joint mo...
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