摘要
大扭矩机器人悬臂产生的信号量较大,运用大数据分析技术能够对海量信号进行精准分析,以期解决悬臂关节震颤控制成功率较低的问题。为此,构建大扭矩机器人悬臂关节运动学模型,获取悬臂关节运动学分析结果;使用自适应滤波器获取机器人工作信号,应用数据挖掘技术获取机器人悬臂关节震颤特征;最后,使用线性傅里叶拟合方法优化机器人悬臂关节震颤控制算法,以实现机器人悬臂关节震颤控制。构建应用测试环节,测试结果表明:基于大数据分析的震颤控制技术抑制振动成功率较高,可有效地解决悬臂关节震颤问题。
The problem of cantilever joint tremor of high torque robot has always affected the working efficiency of the robot.Considering the low success rate of vibration suppression due to poor signal processing ability of vibration control technology,a vibration control technology for cantilever joint of large torque robot based on big data analysis was designed.The kinematics model of the cantilever joint of the large torque robot was constructed,and the kinematics analysis results of the cantilever joint were obtained.The adaptive filter was used to obtain the working signal of the robot,and the data mining technology was used to obtain the vibration characteristics of the cantilever joint of the robot.Linear Fourier fitting method was used to design the robot cantilever joint tremor control algorithm to realize the robot cantilever joint tremor control.Application testing links were built to verify this technology.The test results show that the success rate of vibration suppression is high after the application of this technology,the problem of cantilever joint tremor can be effectively solved.
作者
宋秦中
胡华亮
SONG Qinzhong;HU Hualiang(School of Mechano-electranic Engineering,Suzhou Vocational University,Suzhou Jiangsu 215104,China;Suzhou Hunter Vision Technology Co.,Ltd.,Suzhou Jiangsu 215127,China)
出处
《机床与液压》
北大核心
2024年第5期114-118,共5页
Machine Tool & Hydraulics
基金
江苏高校自然科学基金面上项目(21KJD510009)。
关键词
大扭矩机器人
震颤抑制
大数据分析
自适应滤波
high torque robot
tremor suppression
big data analysis
adaptive filtering
