基于输入整形的Diamond机器人残余振动抑制技术

Residual Vibration Suppression of the Diamond Robot Based on the Input Shaping

围绕提高高速抓放机器人动态定位精度的目标,以Diamond并联机器人为对象,研究基于输入整形的残余振动抑制技术。其要点为:首先,借助CAD-CAE集成技术建立了Diamond机器人的弹性动力学模型,确定了对机器人末端残余振动起主导作用的模态,并通过试验模态分析验证了仿真结果的有效性;然后,通过揭示主导模态下固有频率随位形的变化规律,并基于主导模态固有频率全域均值设计了一种单模态正脉冲输入整形器;最后,通过特定抓放轨迹下的输入整形仿真与残余振动抑制试验,验证了所提方法与技术的有效性,从而大幅度提高了机器人系统在高速运行时的动态定位精度。

Drawing mainly on the goal of improving the dynamic positioning accuracy of high-speed robots,this paper investigates into the residual vibration suppression technology based on input shaping,taking the Diamond robot as an example.Based on the CAD-CAE integration technology,the elasto-dynamic model of the Diamond robot is first built to determine the dominant modes that affect the residual vibration.The effectiveness of the simulation results is verified by experimental modal analysis.The distribution of the dominant modes over the entire workspace is evaluated,allowing a single mode positive pulse input shaper to be designed based on the mean values of the natural frequencies of the dominant modes across the workspace.The effectiveness of the designed input shaper is finally verified by simulation and residual vibration experiment in the case of a certain pick and place trajectory.It is found that the dynamic positioning accuracy is dramatically improved under the operation of high-speed and high-acceleration.