工业机器人摆线轮角传动误差的抑振反馈控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI:10.1109/ICMECH.2013.6519153

Shouta Kawahara, Kiyoshi Ohishi, T. Miyazaki, Y. Yokokura

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引用次数: 5

摘要

提出了一种抑制工业机器人摆线轮角传动误差引起的速度振动的方法。对于工业机器人来说，高精度是非常重要的。然而，摆线齿轮引起机器人手臂的振动，而摆线齿轮具有角传递误差。所提出的速度振动补偿方法采用了基于带角传动误差的摆线齿轮模型的速度振动观测器。由转矩振动产生补偿电流，该电流由估计的转速振动转换而成。实验结果表明，该系统能有效抑制负载转速的振动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vibration suppression feedback control on angular transmission error of cycloid gear for industrial robot

This paper proposes a method for suppressing the speed vibration caused by the angular transmission error in the cycloid gear used in industrial robots. It is important for industrial robots to have high accuracy. The arms of robot, however, are caused to vibrate by cycloid gears that have an angular transmission error. The proposed method for compensating for the speed vibration uses a speed vibration observer that is based on the model of an cycloid gear with angular transmission error. A compensation current is produced from the torque vibration, which is converted by the estimated speed vibration. The experimental results show that the proposed system suppresses the vibration of load speed.

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2013 IEEE International Conference on Mechatronics (ICM)

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