Improved torque feedforward compensation method considering position tracking error compensation

摘要

Purpose This paper aims to investigate the suppression of end-point vibrations in industrial robot systems that exhibit joint flexibility and are subject to external disturbances. Design/methodology/approach The real-time position tracking error is effectively decomposed by using feedforward control based on a dynamic model. Various proportional-derivative controllers and adapted versions are used to compute real-time compensation torque for different position tracking errors. This approach aims to simultaneously achieve rapid response and stability in the control system, resulting in reduced end vibration in the industrial robot. Findings Experiments were conducted in torque compensation on a 6R industrial robot platform. Compared to the dynamic model calculate torque feedforward compensation method, the maximum reduction of the root mean square of the position error of each joint reached 77% and the minimum reduction was 36.2%. This enhancement improves the trajectory tracking accuracy and effectively suppresses the end-effector vibration. Originality/value An improved torque feedforward compensation method is proposed and verified. According to the experimental results, the method can effectively suppress vibration and further improve the trajectory tracking accuracy.