Hybrid input shaping control scheme for reducing vibration of robot based on multi-mode control

Abstract

The classic multi-mode input shapers (MMISs) are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously. But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different. The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper. Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established. The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation. The response time of the zero vibration-zero vibration and derivative (ZV-ZVD) input shaper is the fastest, but the robustness is the least. The robustness of the zero vibration and derivative-extra insensitive (ZVD-EI) input shaper is the best, while the response time is the longest. According to the frequency bandwidth at each mode and required system response time, the most appropriate multi-mode hybrid input shaper (MMHIS) can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.

摘要

典型的多模态输入整形器(MMIS)可有效同时减小机器人或机械手多个模态的残余振动。但各 模态的频带宽度相差较大时,MMIS 就不能在快速响应下消除更多的残余振动。本文介绍了多种典型 的和混合控制的正脉冲多模态输入整形控制策略及其构建原理。建立了六种3 自由度机器人的正脉冲 两模态混合输入整形器。利用数值仿真绘制振动响应曲线和灵敏度曲线,评估这六种输入整形器抑制 残余振动的能力及鲁棒性。零振动-零振动与零导数(ZV-ZVD)的响应时间最快,但鲁棒性最低。零振 动与零导数-极不灵敏(ZVD-EI)的鲁棒性最好,而响应时间最长。根据每个模态的频带宽度和所需的 系统响应时间,可选择最适合的多模态混合输入整形器(MMHIS),从而实现在减小更多残余振动的条 件下加快系统响应时间。