基于半实物仿真的工业机器人末端振动分析

End Vibration Analysis of Industrial Robot Based on Semi-physical Simulation

速度规划算法作为工业机器人控制技术的关键环节,其加速度的连续性对机器人振动性能有较大影响。目前,工业机器人控制系统大多采用集成式的控制器或运动板卡,控制系统封闭,运动控制算法权限没有开放给用户。为解决集成式控制系统运动控制算法受限的问题,基于dSPACE设计工业机器人半实物仿真控制系统,对比T型速度规划算法和S型速度规划算法下工业机器人末端的振动表现,并进行定量分析。实验结果表明,利用S型速度曲线替代T型速度曲线进行速度规划时,工业机器人末端加速度峰峰值降低了20.5%,低频振动振幅降低了30%,机器人末端振动显著减小。

As the key link of industrial robot control technology,the continuity of acceleration has a great impact on the vibration performance of the robot.At present,industrial robot control systems mostly use integrated controller or motion board.The control system is closed,and the authority of motion control algorithm cannot be opened to users.In order to solve the problem that the motion control algorithm of the integrated control system is limited,the semi-physical simulation control system of industrial robot is designed based on dSPACE,the vibration performance of the end of industrial robot under T-curve velocity profile planning algorithm and S-curve velocity profile planning algorithm is compared and analyzed quantitatively.The experimental results show that when using S-curve instead of T-curve for speed planning,the peak and peak acceleration of industrial robot end is reduced by 20.5%,the low-frequency vibration amplitude is reduced by 30%,and the robot end vibration is significantly reduced.