Title:
INDUSTRIAL ROBOT VIBRATION SUPPRESSION METHOD
Document Type and Number:
WIPO Patent Application WO/2020/133880
Kind Code:
A1
Abstract:
An industrial robot vibration suppression method: recording a given position issued by a control system during the movement of a robot and actual position information fed back by an encoder; on the basis of the deviation between the given position and the feedback position, calculating a position compensation amount and a speed compensation amount; and adding the position compensation amount to the given position and using a speed feed-forward interface to add the speed compensation amount to implement vibration suppression of the robot. Direct use of the position encoder of the industrial robot does not require the addition of an external sensor and avoids increasing optimisation costs, and avoids the data errors caused by the addition of extra peripheral devices. The present method can solve jitter during the movement of the robot and can also solve positioning jitter. After obtaining the vibration suppression compensation amounts by means of learning, if the trajectory of movement of the robot has not changed, the position compensation amount and the speed compensation amount can be reused, so that the vibration suppression does not need to be re-learned.
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Inventors:
ZHANG YE (CN)
LI SONGYANG (CN)
WANG JIEGAO (CN)
LI SONGYANG (CN)
WANG JIEGAO (CN)
Application Number:
PCT/CN2019/086711
Publication Date:
July 02, 2020
Filing Date:
May 13, 2019
Export Citation:
Assignee:
NANJING ESTUN ROBOTICS CO LTD (CN)
International Classes:
G05B13/04
Domestic Patent References:
| WO2004071717A1 | 2004-08-26 |
Foreign References:
| CN105773623A | 2016-07-20 | |||
| CN107433589A | 2017-12-05 | |||
| CN107942680A | 2018-04-20 | |||
| CN105773622A | 2016-07-20 |
Attorney, Agent or Firm:
NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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