Motion control strategy of industrial robot for vibration suppression and little positioning phase error

摘要

This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration is generated by the resonant phenomenon and the interference from other axes in such cases. In the proposed strategy, those two problems are overcome. For the resonant vibration, the new reference filtering method is used. It is consisted of the notch filter and the phase compensation gain. Using the notch filter, the resonant phenomenon is suppressed. Using the phase compensation gain, the reference phase error by the notch filter is improved. For the interference from other axes, the dynamic torque compensation is used. The disturbance torque from other axes is computed by the inverse-dynamic torque computation. The simulation results and the experimental results show that the proposed strategy is superior to suppress the vibration and improves the phase error.