基于混合型输入整形的一种三自由度并联机器人抑振的灵敏度分析

Sensitivity analysis to vibration suppression of a 3-DOF parallel manipulator based on the hybrid input shaping

输入整形控制策略能有效减少机器人的残余振动。其抑制振动的性能可通过分析鲁棒性获得,鲁棒性代表了整形器抑制振幅的能力和抑振频率的范围,能力和范围可通过灵敏度曲线获得。介绍了基于时间优化的混合型多模态单位幅度负脉冲输入整形器的基本原理和灵敏度分析方法,并应用到一种3-DOF并联机器人。通过数值仿真分析了不灵敏度,并探讨了不同类型的脉冲对混合型输入整形器灵敏度的影响。结果表明,混合型多模态单位幅度负脉冲输入整形器的鲁棒性要好于单模态的输入整形器,以新方法建立的UMNZV-UMNZVD输入整形器的鲁棒性和抑振特性最好。而且不同类型的脉冲会影响混合型输入整形器的鲁棒性,ZV-ZVD类混合型整形器具有最好的综合性能。

Input shaping is an effective control strategy to reduce residual vibration of robot system .The performance of input shap-ers can be evaluated by analyzing the robustness of input shaper .The robustness represents the ability to reduce the amplitude of vi-bration and the range of the frequency of vibration suppression .This can be obtained by the curves of sensitivity .The method of the hybrid multiple-mode input shaper with unit amplitude negative impulses based on time-optimization are introduced ,and the meth-ods of sensitivity calculation are also presented .These methods are applied in a 3-DOF parallel robot .The insensitivities of the input shapers are analyzed by using numerical simulations .The effects of the hybrid input shapers with different types of impulses are studied.The results show that the robustness of the new input shapers is better than single-mode input shapers .The robustness of UMNZV-UMNZVD is the best in the input shapers by the new method .Furthermore,different types of impulses will affect the ro-bustness of the hybrid input shapers .The hybrid input shapers with ZV-ZVD possesses the best synthesized performance .