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- Title
Research on Vibration Suppression Methods for Industrial Robot Time-Lag Filtering.
- Authors
Liu, Shichang; Wu, Chengdong; Liang, Liang; Zhao, Bin; Sun, Ruohuai
- Abstract
This paper analyzes traditional vibration suppression methods in order to solve the vibration problem caused by the stiffness of flexible industrial robots. The principle of closed-loop control dynamic feedforward vibration suppression is described as the main method for solving robot vibration suppression. This paper proposes a method for time-lag filtering based on T-trajectory interpolation, which combines the T-planning curve and the time-lag filtering method. The method's basic principle is to dynamically adjust the trajectory output through the algorithm, which effectively suppresses the amplitude of the harmonic components of a specific frequency band to improve the vibration response of industrial robot systems. This experiment compared traditional vibration suppression methods with the time-lag filtering method based on T-trajectory interpolation. A straight-line method was proposed to measure the degree of vibration. The results demonstrate that the time-lag filtering method based on T-trajectory interpolation is highly effective in reducing the vibration of industrial robots. This makes it an excellent option for scenarios that demand real-time response and high-precision control, ultimately enhancing the efficiency and stability of robots in performing their tasks.
- Subjects
INDUSTRIAL robots; MECHANICAL vibration research; INDUSTRIALISM; INTERPOLATION; PROBLEM solving; ROBOTS
- Publication
Machines, 2024, Vol 12, Issue 4, p250
- ISSN
2075-1702
- Publication type
Article
- DOI
10.3390/machines12040250