CAJ | 학술논문

针对高速轻型并联机器人残余振动抑制问题，基于输入整形法，对其残余振动抑制进行实验研究。首先分析了并联机构运动学，建立了机构动力学模型。然后对每个输入轴分别设计一个比例－微分（PD ）控制器，建立包含PD控制器的系统动力学模型。最后分别设计了单模态零振动（ZV）、零振动微分（ZVD）整形器和双模态零振动－零振动微分（ZV－ZVD）整形器，建立了并联机器人实验系统。实验结果表明，输入整形器可以抑制并联机器人的残余振动，而双模态整形器振动抑制效果更好。
침대고속경형병련궤기인잔여진동억제문제，기우수입정형법，대기잔여진동억제진행실험연구。수선분석료병련궤구운동학，건립료궤구동역학모형。연후대매개수입축분별설계일개비례－미분（PD ）공제기，건립포함PD공제기적계통동역학모형。최후분별설계료단모태령진동（ZV）、령진동미분（ZVD）정형기화쌍모태령진동－령진동미분（ZV－ZVD）정형기，건립료병련궤기인실험계통。실험결과표명，수입정형기가이억제병련궤기인적잔여진동，이쌍모태정형기진동억제효과경호。
A test for residual vibration suppression of a parallel robot was done based on input shaping control. Firstly,the kinematics of the planar parallel mechanism was analyzed and the dynamic model of the mechanism was constructed.Then,a PD controller was designed for each input shaft,a dynamic model of the whole system including all PD controllers was built.Lastly,input shapers for zero vibration (ZV)and zero vibration derivative (ZVD)of signle mode and for zero vibration-zero vibration derivative (ZV-ZVD)of two-mode,respectively were designed.A test system for a parallel robot was set up.The test results showed that the input shapers can be used to suppress the residual oscillation and the ZV-ZVD shaper is more effective.