Load-side Acceleration Control Based on Single Inertialization Compensator and Jerk Observer for Industrial Robots

摘要

This paper focuses on controlling directly the load-side acceleration to suppress the vibration of the industrial robots, which is modeled as a two-inertia system. This paper proposes a load-side acceleration control based on a single inertialization compensator (SIC) and a jerk observer (JOb). A wideband acceleration sensor capable of acquiring the direct current component is installed on the load side of the experimental equipment. Using this acceleration signal, the single inertialization of a two-inertia system is realized and the JOb is designed. The load-side acceleration control suppresses the resonant vibration of the two-inertia system by designing an acceleration controller using JOb. Two load-side acceleration controller designs are proposed. The effectiveness of these designs is verified by theoretical analysis, simulations, and experiments based on one joint of an industrial robot.