六自由度模块化机械臂轴承颤振抑制算法

IF 0.7 Q4 ENGINEERING, MECHANICAL
Man Zheng, Jun Jin
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引用次数: 0

摘要

机器人手臂具有高精度、低质量等优点,在当代工业生产中经常被使用。随着工业智能的不断发展,如何最大限度地减少机器人手臂的抖动,以最大限度地提高其控制效果,已成为需要解决的最关键问题之一。本研究采用PID控制和人工鱼群技术相结合的方法,在对六自由度模块化机械臂进行运动学分析的基础上,对参数进行了优化,并验证了仿真控制效果。研究结果表明,所提出的融合方法在80次迭代中收敛为零,召回率分别为0.893和0.785,准确度分别为0.8和0.9。机器人手臂控制系统的平均控制效果为42.96%,是一个可观的控制性能。在第二项和第三项研究中,融合方法分别在0.01 s和0.0001 s后稳定了致动器端震颤抑制。结果表明,该技术能够有效抑制机械臂轴承抖动,具有很高的灵活性,为改进工业机器人运动控制系统提供了可靠的技术支持。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Six-DOF modular robotic arm bearing chatter suppression algorithm
Robotic arms are frequently utilized in contemporary industrial production since they offer great qualities like high precision and low mass. How to minimize robotic arm tremors in order to maximize their control effect has emerged as one of the most critical issues to be resolved with the continued development of industrial intelligence. The study uses a combination of PID control and an artificial fish swarm technique to optimize the parameters and confirm the simulation control effect based on the kinematic analysis of a six-degree-of-freedom (Six-DOF) modular robotic arm. The findings demonstrated that the suggested fusion approach converges to zero in 80 iterations and has a recall of 0.893 and 0.785 at an accuracy of 0.8 and 0.9, respectively. The robotic arm control system’s average control effect is 42.96 %, which is a respectable control performance. In the second and third studies, the fusion approach stabilized actuator end tremor suppression after 0.01 s and 0.0001 s, respectively. It shows that the technique can effectively suppress robotic arm bearing tremor and has high flexibility for robotic arm tremor suppression, which offers trustworthy technological support for improving the motion control system of industrial robots.
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来源期刊
Journal of Vibroengineering
Journal of Vibroengineering 工程技术-工程:机械
CiteScore
1.70
自引率
0.00%
发文量
97
审稿时长
4.5 months
期刊介绍: Journal of VIBROENGINEERING (JVE) ISSN 1392-8716 is a prestigious peer reviewed International Journal specializing in theoretical and practical aspects of Vibration Engineering. It is indexed in ESCI and other major databases. Published every 1.5 months (8 times yearly), the journal attracts attention from the International Engineering Community.
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