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Algorithms 2018, 11(11), 189; https://doi.org/10.3390/a11110189

Vibration Suppression of a Flexible-Joint Robot Based on Parameter Identification and Fuzzy PID Control

1
School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu 241000, China
2
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266000, China
*
Author to whom correspondence should be addressed.
Received: 31 October 2018 / Revised: 16 November 2018 / Accepted: 17 November 2018 / Published: 20 November 2018
(This article belongs to the Special Issue Algorithms for PID Controller)
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Abstract

In order to eliminate the influence of the joint torsional vibration on the system operation accuracy, the parameter identification and the elastic torsional vibration control of a flexible-joint robot are studied. Firstly, the flexible-joint robot system is equivalent to a rotor dynamic system, in which the mass block and the torsion spring are used to simulate the system inertia link and elasticity link, for establishing the system dynamic model, and the experimental prototype is constructed. Then, based on the mechanism method, the global electromechanical-coupling dynamic model of the flexible-joint robot system is constructed to clear and define the mapping relationship between the driving voltage of the DC motor and the rotational speed of joint I and joint II. Furthermore, in view of the contradiction between the system response speed and the system overshoot in the vibration suppression effect of the conventional PID controller, a fuzzy PID controller, whose parameters are determined by the different requirements in the vibration control process, is designed to adjust the driving voltage of the DC motor for attenuating the system torsional vibration. Finally, simulation and control experiments are carried out and the results show that the designed fuzzy PID controller can effectively suppress the elastic torsional vibration of the flexible-joint robot system with synchronization optimization of control accuracy and dynamic quality. View Full-Text
Keywords: robot; flexible joint; parameter identification; fuzzy PID; torsional vibration suppression robot; flexible joint; parameter identification; fuzzy PID; torsional vibration suppression
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Ju, J.; Zhao, Y.; Zhang, C.; Liu, Y. Vibration Suppression of a Flexible-Joint Robot Based on Parameter Identification and Fuzzy PID Control. Algorithms 2018, 11, 189.

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