Resonance Suppression Strategy for Humanoid Robot Arm

作     者：Weiling Zhang Qinjun Du Zhengyang Zhao Chuanming Song Wei Ding Yonggang Luo Weiling Zhang;Qinjun Du;Zhengyang Zhao;Chuanming Song;Wei Ding;Yonggang Luo

作者机构：School of Electrical and Electronic EngineeringShandong University of TechnologyZibo 255049ShandongChina 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：2020年第29卷第4期

页      面：456-465页

核心收录：

学科分类：080801[工学-电机与电器] 0808[工学-电气工程] 08[工学] 

基　　金：Supported by the National Key Technology Research and Development Program of China(2018YFC1707104) National Natural Science Foundation of China(62076152) Natural Science Foundation of Shandong Province(ZR2017MF045) Beijing Advanced Innovation Center for Intelligent Robots and Systems 

主　　题：humanoid robot arm resonance proportional-resonant(PR)controller disturbance rejection 

摘      要：To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)***,an arm joint model of the humanoid robot is *** the influence of resonance frequency on the performance of the control system with the robot arm is *** voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current *** PR controller has the characteristic of disturbance rejection at a specific *** output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is *** the output current of the inverter will not be affected by the vibration of the arm at the resonance ***,the control system is verified by MATLAB/Simulink *** simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.