CN107433589B - Robot vibration suppression method based on acceleration sensor - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a robot vibration suppression method based on an acceleration sensor, which comprises the following steps: performing a robot trajectory pre-run, comprising: mounting a three-axis acceleration sensor at the tail end of the robot, and acquiring vibration signals in three directions at a mounting position when the robot runs in advance; extracting vibration parameters of the industrial robot according to the acquired vibration signals; designing and inputting a former according to the obtained vibration parameters; and the input former is acted on the moving track of the industrial robot so as to correct the moving track of the industrial robot by the input former. The method for applying the input shaping to the industrial robot solves the problems that the input shaping parameters are difficult to obtain and the motion of each axis is not synchronous due to input shaping time lag, can inhibit the vibration of the industrial robot and improve the track and the positioning precision.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot vibration suppression method based on an acceleration sensor.
Background
Industrial robots play an increasingly important role in industrial fields. Due to the technical restriction, the joint speed reducing mechanism and the connecting rod of the industrial robot have different degrees of flexibility, and the flexibility is particularly obvious under the working condition of high speed and heavy load. Flexibility easily leads to vibration, and the existence of vibration not only can reduce robot trajectory tracking precision and positioning accuracy, but also can reduce the life of key spare part. The method has important economic benefit and practical value for inhibiting the vibration of the robot.
The vibration suppression of industrial robots is mostly developed from two layers, one is structural optimization and the other is control optimization. The structure optimization improves the structure resonance frequency by increasing the structure rigidity and reducing the structure quality, the rigidity of the connecting rod can be improved by topology optimization, the joint rigidity mainly depends on standard parts such as a speed reducer, a bearing, a synchronous belt and the like, and the lifting space is limited. The control optimization mainly comprises optimization planning and a control algorithm, wherein the optimization of the planning algorithm generally refers to the optimization of the motion track of the robot, and the excitation of flexible vibration of the robot can be avoided through high-order smooth and reasonable acceleration and deceleration parameters; the optimization of the control method is to select more reasonable feedback parameters and design more appropriate control rate to improve the vibration suppression effect. Compared with structure optimization, control optimization is easy to realize due to wide adaptability range, and more researches and applications are obtained.
The method is dependent on the mathematical model of the mechanical arm, is suitable for simple mechanical arms such as a flexible beam, but is difficult to apply to objects with very complex models such as industrial robots. The patent damping control robot system adopts an independent robot damping control device, the device receives action instructions sent by the robot control device and speed and acceleration feedback information collected by a sensor on the robot, iterative learning is carried out to obtain corrected action instructions, the method needs the independent damping control device, the cost is high, because an iterative learning mode is adopted, a plurality of iterations are needed to obtain more ideal correction values, and early debugging is troublesome. In addition to the above patents, many papers adopt an input shaping method to suppress residual vibration of a system, the method mainly applies convolution to joint instructions, simple input shaping may cause instruction time lag, and for a multi-joint industrial robot, joint instructions may not be synchronized, and although vibration may be suppressed, trajectory precision during operation may be reduced. In addition, the input molding technology is originated from a linear time-invariant system, and when the input molding technology is applied to a nonlinear or time-variant system, parameters are difficult to determine, while an industrial robot is a typical nonlinear time-variant system, and the application of the input molding technology to an actual industrial robot has certain difficulty.
Therefore, the conventional vibration suppression method for the industrial robot is somewhat insufficient and is difficult to be applied to an actual industrial robot.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a robot vibration suppression method based on an acceleration sensor.
In order to achieve the above object, an embodiment of the present invention provides a robot vibration suppression method based on an acceleration sensor, including the steps of:
step S1, executing a robot trajectory pre-run, including: mounting a three-axis acceleration sensor at the tail end of the robot, and acquiring vibration signals in three directions at a mounting position when the robot runs in advance;
step S2, extracting vibration parameters of the industrial robot according to the vibration signals collected in the step S1;
step S3, designing and inputting a former according to the vibration parameters obtained in the step S2;
and step S4, acting the input former on the operation track of the industrial robot so as to correct the operation track of the industrial robot by the input former.
Further, in the step S2, a vibration signal is collected according to the step S1, wherein the vibration signal is used for representing the vibration value of the accelerometer, the high-frequency signal and the low-frequency signal are removed through band-pass filtering, then the fourier transform FFT is used for extracting the first two orders of characteristic frequencies, and the damping ratio is obtained according to the multi-cycle amplitude attenuation, so as to obtain the vibration parameter of the industrial robot.
Further, in the step S3, the input former is:
Further, in the step S4,
the normalized arc length parameters of the track are set as follows:
wherein s belongs to [0,1], and the motion instruction is also parameterized as { x(s), y(s), z(s) };
coefficient of taking
Arc length parameter after runtime correction
sacc(τ)＝sacc(kt)＝s(t)，t∈[0,T]
Assuming that the former is n-th order, the command after forming becomes
Wherein:
t'∈[0,T-tdelay]
according to the robot vibration suppression method based on the acceleration sensor, the method for applying the input shaping to the industrial robot solves the problems that the input shaping parameters are difficult to obtain and the motion of each axis is not synchronous due to the input shaping time lag, can suppress the vibration of the industrial robot, improves the track and the positioning precision, and has the following advantages:
(1) the vibration parameters are extracted according to the feedback information of the acceleration sensor without depending on an accurate object model, so that the realization difficulty is reduced, and the parameter accuracy is improved;
(2) vibration parameters are obtained through track pre-operation, operation is only needed once, and debugging efficiency is high;
(3) by correcting the track running time, the time lag caused by input molding is avoided, and the working efficiency of the robot is not influenced while the vibration is reduced;
(4) the input shaping is applied to the arc length parameter, not the joint space, so that the asynchrony of all the axes can be avoided, and the track precision is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flow chart of a method for vibration suppression of a robot based on an acceleration sensor according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for vibration suppression of an acceleration sensor based robot according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot end mounted three-axis acceleration sensor in accordance with an embodiment of the present invention;
FIG. 4 is a graph illustrating the rate of change of the arc length parameter s (t) with time before, after, and after input shaping according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 and 2, the method for suppressing vibration of a robot based on an acceleration sensor according to an embodiment of the present invention includes the following steps:
step S1, executing a robot trajectory pre-run, including: a three-axis acceleration sensor is arranged at the tail end of the robot, and vibration signals in three directions at the mounting position of the robot in the pre-operation process are collected.
Specifically, most industrial robots generate a movement path in a teaching manner, and for example, cartesian space movement is represented as { x (T), y (T), z (T) }, where T ∈ [0, T ] is a movement time. The robot moves according to an unmodified teaching track, and due to the existence of structural flexibility, vibration is easily excited when the track starts and stops. According to the invention, a three-axis acceleration sensor (shown in figure 3) is arranged at the tail end of the robot, and vibration signals in three directions at the installation position of the robot during the pre-operation are collected. The pre-operation can also acquire the actual operation total time T of the robot.
And step S2, extracting vibration parameters of the industrial robot according to the vibration signals collected in the step S1.
Specifically, according to step S1, a vibration signal is collected by pre-running, wherein the vibration signal is used for representing the vibration value of the accelerometer, the high-frequency and low-frequency signals are removed by band-pass filtering, then fourier transform FFT is used for extracting the first two orders of characteristic frequencies, and the damping ratio is obtained according to multi-cycle amplitude attenuation, so as to obtain the vibration parameter of the industrial robot.
The vibration parameters required for input shaping include vibration frequency and damping. The frequency is related to rigidity and inertia, changes greatly along with loads and robot configurations, and the first-order frequency needing to be concerned in vibration suppression is usually in the range of 3Hz to 15 Hz; the damping variation is relatively small and the input shaping is much less sensitive to damping errors than frequency errors. The industrial robot is a complex multi-body system, joints and connecting rods have flexibility of different degrees, the modeling difficulty of such a complex object is high, and even if an accurate model exists, accurate model parameters are difficult to obtain. According to the method, the frequency and the rigidity are not extracted according to an object model, but according to the accelerometer vibration value acquired in the previous step in advance, high-frequency and low-frequency signals are removed through band-pass filtering, then the first two-order characteristic frequency is extracted through FFT, and the damping ratio is obtained according to a plurality of periodic amplitude attenuations.
And step S3, designing and inputting the former according to the vibration parameters obtained in the step S2.
In one embodiment of the invention, the input former is:
Specifically, with the vibration parameters, an input former can be designed according to the vibration parameters, and the method has no special requirements on the former, and the input former is assumed to be
The total time lag is T _ delay and the new total operating period is T-T _ delay.
And step S4, applying the input former on the operation track of the industrial robot so as to correct the operation track of the industrial robot by the input former.
In particular, if the former acts on the joint space, it causes the axes to be out of synchronism, resulting in a trajectory deviation. The patent applies the input former to a normalized arc length of the trajectory,
the normalized arc length parameters of the trace are:
thus s ∈ [0,1], the motion command is also parameterized as { x(s), y(s), z(s) };
coefficient of taking
Arc length parameter after runtime correction
sacc(τ)＝sacc(kt)＝s(t)，t∈[0,T]
Assuming that the former is n-th order, the command after forming becomes
Wherein:
t'∈[0,T-tdelay]
figure 4 shows the rate of change of the arc length parameter s (t) with time before, after and after temporal modification.
The robot can effectively inhibit the vibration when starting and stopping according to the movement of the corrected arc length parameter.
In the invention, on the aspect of obtaining the vibration parameters, the vibration parameters are obtained through track pre-operation at one time, the parameters are collected through an acceleration sensor and come from actual operation, the precision is ensured, and the difficulty in obtaining the parameters is reduced. In the input molding implementation mode, particularly, the input molding is applied to the arc length parameter instead of the joint space, so that the reduction of the track precision caused by the asynchronous of all the axes is avoided.
According to the robot vibration suppression method based on the acceleration sensor, the method for applying the input shaping to the industrial robot solves the problems that the input shaping parameters are difficult to obtain and the motion of each axis is not synchronous due to the input shaping time lag, can suppress the vibration of the industrial robot, improves the track and the positioning precision, and has the following advantages:
(1) the vibration parameters are extracted according to the feedback information of the acceleration sensor without depending on an accurate object model, so that the realization difficulty is reduced, and the parameter accuracy is improved;
(2) vibration parameters are obtained through track pre-operation, operation is only needed once, and debugging efficiency is high;
(3) by correcting the track running time, the time lag caused by input molding is avoided, and the working efficiency of the robot is not influenced while the vibration is reduced;
(4) the input shaping is applied to the arc length parameter, not the joint space, so that the asynchrony of all the axes can be avoided, and the track precision is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A robot vibration suppression method based on an acceleration sensor is characterized by comprising the following steps:
step S1, executing a robot trajectory pre-run, including: mounting a three-axis acceleration sensor at the tail end of the robot, and acquiring vibration signals in three directions at a mounting position when the robot runs in advance;
step S2, extracting vibration parameters of the robot according to the vibration signals collected in the step S1;
step S3, designing and inputting a former according to the vibration parameters obtained in the step S2; wherein the input former is:
wherein Ai is the amplitude of the ith order of the former, t is a time variable, ti is the delay of the ith order of the former, and delta is a pulse function;
step S4, acting the input former on the running track of the robot so as to correct the running track of the robot by using the input former;
the normalized arc length parameters of the track are set as follows:
wherein s belongs to [0,1], and the motion instruction is also parameterized as { x(s), y(s), z(s) };
coefficient of taking
Defining a new variable tau-kt, correcting the running time by taking the variable tau as a parameter,
as a correction amount on the x-axis,
correction on the y-axis;
is the correction in the z-axis;
arc length parameter after runtime correction
sacc(τ)＝sacc(kt)＝s(t)，t∈[0,T]
Assuming that the former is n-th order, the command after forming becomes
Wherein:
t'∈[0,T-tdelay]
2. the method for suppressing vibration of an acceleration sensor based robot according to claim 1, wherein in the step S2, the vibration signal collected according to the step S1 is pre-run, wherein the vibration signal is used to represent the vibration value of the accelerometer, the high frequency and low frequency signals are removed by band pass filtering, then the fourier transform FFT is used to extract the first two orders of characteristic frequency, and the damping ratio is obtained according to the multi-cycle amplitude attenuation, so as to obtain the vibration parameter of the robot.
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| CN108638056A (en) * | 2018-04-13 | 2018-10-12 | 华南理工大学 | Joint of robot vibration analysis based on kinetics of deformable bodies model and suppressing method |
| JP6836544B2 (en) * | 2018-05-09 | 2021-03-03 | ファナック株式会社 | Control system and driven body control method |
| CN109799701B (en) * | 2018-12-29 | 2022-04-29 | 南京埃斯顿机器人工程有限公司 | Industrial robot vibration suppression method |
| CN110103220B (en) * | 2019-05-20 | 2021-11-26 | 华南理工大学 | High-speed and high-precision robot motion trajectory planning method, device, equipment and medium |
| US20220134552A1 (en) * | 2019-06-25 | 2022-05-05 | Disney Enterprises, Inc. | Vibration suppression and dynamic balancing for retargeting motions onto robotic systems |
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| CN110480659B (en) * | 2019-08-26 | 2022-12-16 | 华南理工大学 | A vibration control device and method when a robot manipulates the movement of a flexible workpiece |
| CN113031530B (en) * | 2019-12-09 | 2022-06-10 | 合肥欣奕华智能机器股份有限公司 | Robot control method, robot control device and robot |
| CN111347425B (en) * | 2020-03-04 | 2021-08-10 | 深圳易能电气技术股份有限公司 | Mechanical vibration suppression method, system and computer readable storage medium |
| CN114055515B (en) * | 2020-07-31 | 2023-07-07 | 配天机器人技术有限公司 | Jitter analysis method and system |
| CN114619483A (en) * | 2020-12-08 | 2022-06-14 | 山东新松工业软件研究院股份有限公司 | Flexible robot vibration suppression method and system based on trajectory correction |
| CN114505844B (en) * | 2022-01-24 | 2023-06-20 | 华南理工大学 | A residual vibration suppression system and method for industrial robots |
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