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

doi:10.19595/j.cnki.1000-6753.tces.L80699

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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.

Key words： Industrial robot robot joint servo system vibration suppression internal model control

Received: 10 July 2018 Published: 31 January 2019

PACS:

TM820.3

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	Articles by authors
	Huang Xuanrui
	Song Yuyang
	Li Qiusheng
	Xiao Xi

Cite this article:

Huang Xuanrui,Song Yuyang,Li Qiusheng等. A Vibration Suppression Algorithm for Industrial Robot Joint Servo System Based on Internal Model Control[J]. Transactions of China Electrotechnical Society, 2019, 34(3): 497-505.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.L80699 OR https://dgjsxb.ces-transaction.com/EN/Y2019/V34/I3/497

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