Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot

摘要

Industrial robots require high-speed and high-precision motion for improvements in productivity and product quality. However, high-speed motion excites residual vibration because the joint axis of the industrial robot has axial torsion. In addition, the inertia moment of the industrial robot is changed by the end-effector tool. Therefore, robust vibration suppression control is required. However, achieving both robust vibration suppression control and high-speed motion control is difficult. This paper proposes a new final state control method that considers the convergence time and inertia variation for an industrial robot. The proposed method applies final state control to the entire motion control system of each joint. To achieve the desired convergence time for the end-effector, the final state control profile is redesigned by using a proposed flowchart. The effectiveness of the proposed method is confirmed by a numerical simulation and an experiment using a 3-degree-of-freedom robot manipulator.