A Vibration Suppression Algorithm for Industrial Robot Joint Servo System Based on Internal Model Control
Huang Xuanrui1, Song Yuyang1, Li Qiusheng2, Xiao Xi1
1. Department of Electrical Engineering Tsinghua University Beijing 100084 China; 2. Tsino-Dynatron Electrical Technology (Beijing) Co. Ltd Beijing 100070 China
Abstract：There exists resonance point in industrial robot joint servo system due to the flexibility of the gear reducer, which may lead to mechanical vibration under extreme position reference using conventional PI controller. In this paper, a vibration suppression algorithm for industrial robot joint servo system is proposed based on the kinematics model and internal model control, the vibration can be suppressed by adding an anti-vibration filter between the position loop and the velocity loop without additional sensors and complicated control algorithm. The simulation and experiment show that the method has obvious vibration suppression effect and parameter robustness.
黄宣睿, 宋宇洋, 李秋生, 肖曦. 一种基于内模控制的工业机器人关节伺服系统振动抑制算法[J]. 电工技术学报, 2019, 34(3): 497-505.
Huang Xuanrui, Song Yuyang, Li Qiusheng, Xiao Xi. A Vibration Suppression Algorithm for Industrial Robot Joint Servo System Based on Internal Model Control. Transactions of China Electrotechnical Society, 2019, 34(3): 497-505.
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2019, Vol. 34 
