Research of the torque compensation method for the vibration suppression of the industrial robot

Abstract

A torque compensation method is proposed in this paper. Through theoretical analysis and experiments, a compensation strategy with tracking filter is designed for the control system of the industrial robot. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector which caused by the variation of the inertia in the serials robot. The main difference between this method and the method currently used is that it does not require the complex computation. Experimental results show that this torque compensation strategy can suppress the residual vibration to a level similar to that of the conventional method which has a complex computation of the estimation model. This strategy is an attractive method for the suppression of time varying nonlinear vibration in industrial robots which perform repetitive tasks because of the limit of computing power and memory space for their controllers.