High-performance robot motion control based on zero-phase notch filter for industrial robot

摘要

This paper proposes a new motion control method for industrial robots. It is important to regulate the motion of robot on condition of high-speed and high-accuracy for industrial robots. However, industrial robots often occur vibration phenomenon which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. A zero-phase notch filter is very useful for suppressing the resonant phenomenon. However, as the design method of zero-phase notch filter is more difficult than that of the zero-phase low-pass filter, the high-performance zero-phase notch filter cannot be realized in motion control field. In order to overcome this problem, this paper proposes a new design method of the zero-phase notch filter which has no phase delay for fast robot motion control reference. Using the proposed method, this paper achieves fast and accurate robot motion control without vibration phenomenon and overshoot. The experimental results confirm that the control system based on the proposed method well regulates fast accurate path tracking control smoothly and rapidly.