摘要
针对工业机器人关节柔性引起的末端执行器残余振动问题,提出一种基于控制误差优化输入整形器的振动控制算法。该算法结合零振动二阶微分输入整形器(ZVDD)方程和系统响应时滞时间方程,构建了关于整形器脉冲幅值参数的线性约束方程组;以整形后末端运动过程控制误差和定位误差为优化目标,建立了控制误差代价函数;利用拉格朗日乘子法解出脉冲幅值参数的表达式并进行迭代运算求得最优解;采用预测路径规划来补偿系统时滞时间。实验结果表明:所设计的控制误差优化输入整形器能将机器人J5轴末端残余振动加速度减少至整形前的11.7%,与ZVDD输入整形器相比能减少系统响应时滞时间约88%和最大过程控制误差约60.3%,与CEM输入整形器相比能减少定位误差约53.7%。该算法可以在有效抑制残余振动的基础上,减小传统输入整形器引起的系统响应时滞时间、末端运动过程控制误差和定位误差,对提高工业机器人的定位速度和精度具有一定的参考意义。
A vibration control strategy based on input shaping with control of error optimization is proposed to solve the robot endeffector’s residual vibration caused by joint flexibility.The algorithm sets up a set of linear constraint equations through combination of the zero-vibration second-order-derivative equation and the system response delay time equation.A cost function for the control of error is established for optimization of both the motion control error and positioning control error.The Lagrangian multiplier method is used to get the amplitude vector and then iteration is used to get its optimal solution.The predictive path scheduling is applied to compensate the system response delay time.Experimental results show that the residual vibration is reduced to 11.7%of the original level.A comparison with the ZVDD input shaping show that the system response delay time and the maximum motion control error of the proposed input shaping reduce by about 88%and 60.3%,respectively,while the positioning control error reduces by about 53.7%compared with the CEM input shaping.It is concluded that the proposed strategy can effectively suppress the residual vibration,and reduce the system response delay time,motion control error and positioning control error caused by input shaping,and that it provides a meaningful reference for the improvement of industrial robot’s positioning accuracy and speed.
作者
张铁
林康宇
邹焱飚
刘晓刚
ZHANG Tie;LIN Kangyu;ZOU Yanbiao;LIU Xiaogang(School of Mechanical&Automotive Engineering,South China University of Technology,Guangzhou 510641,China;Guangxi Colleges and Universities Key Laboratory of Robot and Welding,Guilin University of Aerospace Technology, Guilin,Guangxi 541004,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2018年第4期90-97,共8页
Journal of Xi'an Jiaotong University
基金
国家科技重大专项资助项目(2015ZX04005006)
广东省科技重大专项资助项目(2014B090921004
2015B010918002)
广州市科技重大专项资助项目(201604040009)
关键词
工业机器人
残余振动
输入整形
控制误差优化
振动控制
industrial robot
residual vibration
input shaping
control error optimization
vibration control
