用于机器人末端残余振动控制的控制误差优化输入整形器

张铁 1; 林康宇 1; 邹焱飚 1; 刘晓刚 2

doi:10.7652/xjtuxb201804013

您当前的位置：

首页 >

文章列表页 >

用于机器人末端残余振动控制的控制误差优化输入整形器

更新时间：2025-07-09

- 用于机器人末端残余振动控制的控制误差优化输入整形器
- An Input Shaper with Control of Error Optimization for End-Effector's Residual Vibration Suppression of Industrial Robots
- 西安交通大学学报 2018年52卷第4期页码：90-97
- 作者机构：
  
  华南理工大学机械与汽车工程学院,广州,510641
- 作者简介：
- 基金信息：
  
  : 2017-09-20。作者简介: 张铁(1968—),男,教授,博士生导师。基金项目: 国家科技重大专项资助项目(2015ZX04005006);广东省科技重大专项资助项目(2014B090921004,2015B010918002);广州市科技重大专项资助项目(201604040009)
- DOI：10.7652/xjtuxb201804013
  中图分类号： TB535;TP242.2
- 网络首发：2018-04-10，
  
  纸质出版：2018
- 稿件说明：
移动端阅览
张铁 1, 林康宇 1, 邹焱飚 1, 等. 用于机器人末端残余振动控制的控制误差优化输入整形器[J]. 西安交通大学学报, 2018,52(4):90-97.

An Input Shaper with Control of Error Optimization for End-Effector's Residual Vibration Suppression of Industrial Robots[J]. 2018, 52(4): 90-97.
张铁 1, 林康宇 1, 邹焱飚 1, 等. 用于机器人末端残余振动控制的控制误差优化输入整形器[J]. 西安交通大学学报, 2018,52(4):90-97. DOI： 10.7652/xjtuxb201804013.

An Input Shaper with Control of Error Optimization for End-Effector's Residual Vibration Suppression of Industrial Robots[J]. 2018, 52(4): 90-97. DOI： 10.7652/xjtuxb201804013.

摘要

针对工业机器人关节柔性引起的末端执行器残余振动问题

提出一种基于控制误差优化输入整形器的振动控制算法。该算法结合零振动二阶微分输入整形器(ZVDD)方程和系统响应时滞时间方程

构建了关于整形器脉冲幅值参数的线性约束方程组; 以整形后末端运动过程控制误差和定位误差为优化目标

建立了控制误差代价函数; 利用拉格朗日乘子法解出脉冲幅值参数的表达式并进行迭代运算求得最优解; 采用预测路径规划来补偿系统时滞时间。实验结果表明:所设计的控制误差优化输入整形器能将机器人J5轴末端残余振动加速度减少至整形前的11.7%

与ZVDD输入整形器相比能减少系统响应时滞时间约88%和最大过程控制误差约60.3%

与CEM输入整形器相比能减少定位误差约53.7%。该算法可以在有效抑制残余振动的基础上

减小传统输入整形器引起的系统响应时滞时间、末端运动过程控制误差和定位误差

对提高工业机器人的定位速度和精度具有一定的参考意义。

Abstract

A vibration control strategy based on input shaping with control of error optimization is proposed to solve the robot end-effector's residual vibration caused by joint flexibility. The algorithm sets up a set of linear constraint equations through combination of the zero-vibration second-order-derivative equation and the system response delay time equation. A cost function for the control of error is established for optimization of both the motion control error and positioning control error. The Lagrangian multiplier method is used to get the amplitude vector and then iteration is used to get its optimal solution. The predictive path scheduling is applied to compensate the system response delay time. Experimental results show that the residual vibration is reduced to 11.7% of the original level. A comparison with the ZVDD input shaping show that the system response delay time and the maximum motion control error of the proposed input shaping reduce by about 88% and 60.3%

respectively

while the positioning control error reduces by about 53.7% compared with the CEM input shaping. It is concluded that the proposed strategy can effectively suppress the residual vibration

and reduce the system response delay time

motion control error and positioning control error caused by input shaping

and that it provides a meaningful reference for the improvement of industrial robot's positioning accuracy and speed.

关键词

Keywords

references

MALEKIE. Dynamics and zero vibration input shaping control of a small-scale boom crane [C]∥Proceedings of the 2010 American Control Conference. Piscataway, NJ, USA: IEEE, 2010: 2296-2301.

杨益波. 柔性关节柔性臂杆机械臂动力学建模与振动抑制研究 [D]. 哈尔滨: 哈尔滨工业大学, 2015: 54-57.

SCHITTER G, THURNER P J, HANSMA P K. Design and input-shaping control of a novel scanner for high-speed atomic force microscopy [J]. Mechatronics, 2008, 18(5/6): 282-288.

FORTGANG J, SINGHOSE W, MARQUEZ J D J, et al. Command shaping control for micro-milling operations [J]. International Journal of Control, Automation, and Systems, 2011, 9(6): 1136-1145.

那帅, 朱春艳, 彭福军, 等. 基于输入整形技术的太阳翼调姿残余振动抑制实验研究 [J]. 振动与冲击, 2013, 32(7): 107-112.

NA Shuai, ZHU Chunyan, PENG Fujun, et al. Tests for residual vibration suppression of a solar array during attitude control based on input shaping technique [J]. Journal of Vibration and Shock, 2013, 32(7): 107-112.

SINGHOSE W. Command generation for flexible systems [D]. Massachusetts, MA, USA: MIT, 1997: 99-112.

ZHAO Yu, CHEN Wenjie, TANG Te, et al. Zero time delay input shaping for smooth settling of industrial robots [C]∥Proceedings of the 2016 IEEE International Conference on Automation Science and Engineering. Piscataway, NJ, USA: IEEE, 2016: 620-625.

KAMEL A. New aspects of input shaping control to damp oscillations of a compliant force sensor [C]∥Proceedings of the 2008 IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2008: 2629-2635.

POTTER J J, SINGHOSE W. Design and human-in-the-loop testing of reduced-modification input shapers [C]∥Proceedings of the IEEE Transactions on Control Systems Technology. Piscataway, NJ, USA: IEEE, 2016: 1513-1520.

ROBERTSON M, KOZAK K, SINGHOSE W. Computational framework for digital input shapers using linear optimization [J]. Proceedings of the Control Theory and Applications, 2006, 153(3): 314-322.

HAN Jianda, ZHU Zhiqiang, HE Yuqing, et al. A novel input shaping method based on system output [J]. Journal of Sound and Vibration, 2015, 335: 338-349.

PYUNG H C, HYUNG S P. Time-varying input shaping technique applied to vibration reduction of an industrial robot [J]. Control Engineering Practice, 2005, 13(1): 121-130.

PEREIRA E, TRAPERO J R, DIAZ I M, et al. Adaptive input shaping for single-link flexible manipulators using an algebraic identification [J]. Control Engineering Practice, 2012, 20(2): 138-147.

PEREIRA E, TRAPERO J R, DIAZ I M, et al. Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique [J]. Automatica, 2009, 45(4): 1046-1051.

SINGER N C. Residual vibration reduction in computer controlled machines [D]. Massachusetts, MA, USA: MIT, 1988: 24-39.

SINGHOSE W E, SINGER N, SEERING W. Time-optimal negative input shapers [J]. Journal of Dynamic Systems Measurement and Control, 1997, 119(2): 198-205.

初红霞,谢忠玉,王科俊.一种结合颜色纹理直方图的改进型Camshift目标跟踪算法.2018,52(3):145-152.[doi:10.7652/ xjtuxb201803020]

陶剑锋.历程图中的弱目标轨迹增强方法.2018,52(2):76-81.[doi:10.7652/xjtuxb201802012]

杨航,刘凌,倪骏康,等.双关节刚性机器人自适应BP神经网络算法.2018,52(1):129-135.[doi:10.7652/xjtuxb201801 019]

朱爱斌,何仁杰,吴玥璇,等.考虑变换域融合方法的刀具磨损区域三维重构.2017,51(12):76-83.[doi:10.7652/xjtuxb 201712012]

李兵,杜俊伟,陈磊,等.工业机器人RV减速器传动误差分析.2017,51(10):1-6.[doi:10.7652/xjtuxb201710001]

蒙雁琦,胡改玲,温琳鹏,等.区域分割的亚像素相位立体匹配算法.2017,51(10):33-38.[doi:10.7652/xjtuxb201710 006]

曹卫权,褚衍杰,李显.针对机器学习中残缺数据的近似补全方法.2017,51(10):142-148.[doi:10.7652/xjtuxb201710 023]

妥吉英,邓兆祥,张河山,等.新型扭转准零刚度的振动角度传感系统.2017,51(8):90-95.[doi:10.7652/xjtuxb201708 015]

张鹏飞,王志恒,席光.用于柔性转子主动控制的等几何Timoshenko梁模型及其数值验证.2016,50(10):139-146.[doi:10.7652/xjtuxb201610021]

刘锦春,何其伟,朱石坚.交叉更新参考信号的振动主动控制方法.2015,49(7):49-54.[doi:10.7652/xjtuxb201507009]

刘石,仲继泽,冯永新,等.使用磁流变阻尼器的大型汽轮发电机定子端部绕组振动控制.2013,47(4):39-43.[doi:10.7652/xjtuxb201304008]

薛晓敏,孙清,伍晓红,等.磁流变阻尼器滞回模型参数的敏感性分析及其简化模型.2013,47(7):102-107.[doi:10.7652/xjtuxb201307019]

马天兵,裘进浩,季宏丽.用于壁板结构多模态振动主动控制的改进最小控制合成(MCS)算法.2012,46(7):87-92.[doi:10.7652/xjtuxb201207016]

郭空明,江俊.采用Kagome夹心板的航天器仪器安装板振动控制.2012,46(7):128-134.[doi:10.7652/xjtuxb201207 023]

薛晓敏,孙清,张陵,等.利用遗传算法的磁流变阻尼器结构含时滞半主动控制.2010,44(9):122-127.[doi:10.7652/xjtuxb201009024]

荆栋,徐晖,王绪伟.内嵌流体欧拉梁减振评价及残余振动衰减分析.2008,42(3):354-358.[doi:10.7652/xjtuxb200803 022]

张楚华.三维流体诱发振动的理论模型与数值模拟.2007,41(5):512-516.[doi:10.7652/xjtuxb200705002]

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

用于壁板结构多模态振动主动控制的改进最小控制合成(MCS)算法

采用Kagome夹心板的航天器仪器安装板振动控制

磁流变阻尼器滞回模型参数的敏感性分析及其简化模型

用于柔性转子主动控制的等几何Timoshenko梁模型及其数值验证

工业机器人驱动系统非线性频谱故障诊断方法