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为了实现柔性机器人的高速高精度控制,抑制高速运动中的残余振动,提出一种新颖的柔性机器人机构,并基于双重驱动的思想研究了其振动抑制问题。以直线伺服电机作为机器人的主驱动源,实现高速精密点位控制,并采用脉冲整形技术减小末端残余振动;以压电陶瓷作为从驱动源,采用闭环反馈控制策略抑制末端残余振动。实验结果表明:采用输入指令整形减振技术和压电陶瓷相结合的抑振策略,系统稳定时间缩短80%以上,双重驱动的抑振策略实现了高速高精度的运动控制。
In order to realize high-speed and high-precision control of flexible robot and restrain the residual vibration in high-speed motion, a novel flexible robot mechanism is proposed and its vibration suppression problem is studied based on the idea of dual-drive. The linear servo motor is used as the main driving source of the robot to realize high-speed precise point control. The pulse shaping technique is used to reduce the residual vibration of the terminal. The piezoelectric ceramic is used as the slave driving source, and the closed-loop feedback control strategy is adopted to suppress the residual vibration. The experimental results show that the system stabilization time can be shortened by more than 80% with the vibration suppression strategy combined with input-command shaping vibration reduction and piezoelectric ceramics, and the dual-drive vibration suppression strategy can achieve high-speed and high-precision motion control.