Abstract
Mechanical resonance affects the performance of robot trajectory tracking. Notch filter (NF) is an effective method to solve resonance problems. However, because the NF introduces phase lag and the resonance frequency of robot is low, the NF will cause system instability. Therefore we propose an improved notch filter (INF) to improve the phase delay near the notch frequency. On the other hand, because the resonance frequency varies with robot’s posture, it’s difficult to determine the notch frequency. This paper studies the robot with harmonic reducers (HRs) as transmission components. Based on the electro-mechanical coupling system, we analyze the transfer functions of multiple excitation sources to motor velocity and link velocity. Then we confirm that the main resonant excitation source is harmonic component of transmission error (HCTE) in HRs. Therefore the notch frequency can be set priorly by commend velocity. Finally, the validity of the INF method was verified on a flexible joint robot.
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Acknowledgements
We greatly acknowledge the funding of this work by National Natural Science Foundation of China, U19A2072. And we would like to thank for the help and support of Foshan institute of intelligent Equipment Technology.
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Zhu, Z. et al. (2023). Improved Notch Filter Method for Vibration Suppression of Flexible Joint Robots with Harmonic Reducers. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_40
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DOI: https://doi.org/10.1007/978-981-99-6489-5_40
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