Research on Vibration Suppression for Industrial Robots Based on Dynamic Feedforward Control
作者单位：School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
基 金：supported by the National Natural Science Foundation of China under Grant No. 61873308, 61503076 Natural Science Foundation of Jiangsu Province under Grant No. BK20150624
关 键 词：Industrial robots feedforward control vibration suppression
摘 要：To address the challenges of low position tracking accuracy and high vibrations in mechanical arms controlled by PID closed-loop systems, this paper introduces a torque feedforward control scheme based on dynamic models. The paper initially analyzes the causes of vibrations during robot motion, establishing a mathematical model to quantify the trajectory accuracy and repeatability of vibrations. Subsequently, a torque feedforward control scheme based on dynamic models is designed, and its feasibility is theoretically analyzed. In this motion control scheme, precise dynamic models are utilized to calculate and output the desired torque. The torque values are then converted into motor current values, which are superimposed on the control output of the current loop in the servo to achieve real-time torque compensation. Finally, through simulation experiments, the paper validates that the dynamics-based torque feedforward control effectively suppresses robot vibrations, enhances tracking accuracy,and improves dynamic performance. The findings demonstrate the efficacy of the proposed control strategy in addressing the challenges associated with PID-controlled robotic arm systems.