直角三轴机器人的振动控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509324

T. Yamamoto, K. Tanaka, M. Sumiyoshi

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引用次数: 7

摘要

本文提出了一种适用于传统PID控制器的直角三轴机器人的振动控制方法。我们将重点放在了预成形控制上，该控制不仅基于加减速时间的差异，而且还基于正、负加速度的差异(加速度的微分)。我们证实，即使是一个低成本的控制单元也可以将振动沉降时间缩短0.2到0.5秒，是传统PID控制时间的一半。

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 control for cartesian 3 axes robot

This paper presents a vibration control method for a cartesian 3 axes robot which can be used practically with a conventional PID controller. We focused attention on preshaping control based on not only the difference between acceleration and deceleration times but also difference between the positive and negative jerk (differentiation of acceleration). We confirmed that even a low-cost control unit can reduce the vibration settling time by 0.2 to 0.5 second, half the time of conventional PID control.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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