基于输入整形法的一个3自由度机器人抑制残余振动的灵敏度分析

Sensitivity Analysis to Vibration Suppression of a Three DOF Manipulator by Input Shaping

输入整形法是一种抑制机器人残余振动的简单有效的控制策略。输入整形器的鲁棒性是评价整形器性能的重要参数,它表达了整形器能抑制系统残余振动的频率范围。通过分析输入整形器的灵敏度曲线可以获得整形器的鲁棒性。首先,介绍了多种输入整形法的原理;其次,表达了各种输入整形器灵敏度的计算方法;最后,通过数值模拟分析了一个3自由度平面并联机器人的多种输入整形器的不灵敏度。数值仿真结果表明极不灵敏类输入整形器拥有最好的鲁棒性,而零振动类输入整形器的鲁棒性最差。

Input shaping is a simple and effective method to suppress residual vibration of robot manipulator. The robust of input shaper is an important parameter to evaluate performance of the input shaping. It expresses a range of the frequency that the input shapers can reduce the vibration of the system. The robust of the input shapers can be obtained by analyzing the curves of sensitivity. First, some input shaping methods are introduced. Second, the methodologies of sensitivity calculation of the input shaper are presented. Finally, the insensitivities of the input shapers with a 3-DOF robot manipulator are analyzed by the numerical simulations. The results of the numerical simulations expressed that the Extra Insensitive input shapers possess the best robust. However, the robust of the Zero Vibration input shapers is the worst.