CN116460853A - Flexible joint speed pulsation compensation method, device, system and storage medium - Google Patents
Flexible joint speed pulsation compensation method, device, system and storage medium Download PDFInfo
- Publication number
- CN116460853A CN116460853A CN202310553880.4A CN202310553880A CN116460853A CN 116460853 A CN116460853 A CN 116460853A CN 202310553880 A CN202310553880 A CN 202310553880A CN 116460853 A CN116460853 A CN 116460853A
- Authority
- CN
- China
- Prior art keywords
- torque
- compensation
- flexible joint
- value
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000010349 pulsation Effects 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004364 calculation method Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000015654 memory Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a flexible joint speed pulsation compensation method, a device, a system and a medium, wherein the flexible joint speed pulsation compensation method is characterized by comprising the following steps: s1: acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle; s2: calculating the torque feedback, the motor phase information and the torque fluctuation amplitude to obtain a torque compensation value, and storing the torque compensation value into a servo driver; s3: the torque feedforward value is obtained through calculation in a preset compensation calculation mode and is used for compensating the actual torque when the motor operates, so that the pulsation speed of the flexible joint can be corrected, and the operation precision and stability of the flexible joint motor are improved, so that the flexible joint motor can operate stably.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a flexible joint speed pulsation compensation method, a flexible joint speed pulsation compensation system and a storage medium.
Background
In production facilities, harmonic reducers are widely used in industrial robots. However, in some application scenarios, the speed pulsation problem at medium and low speeds is easily caused by the influences of uneven friction force, cogging torque fluctuation of a servo motor and the like in one circle of harmonic speed reducer, at this time, the output end speed of the harmonic speed reducer is lower, fluctuation amplitude is easier to detect, stability and efficiency of a robot are influenced, and the problem is a servo control problem to be solved urgently.
Disclosure of Invention
In order to solve the above problems, the present invention provides a flexible joint velocity pulsation compensation method, comprising the steps of:
s1: acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle;
s2: calculating the torque feedback, the motor phase information and the torque fluctuation amplitude to obtain a torque compensation value, and storing the torque compensation value into a servo driver;
s3: and calculating to obtain a torque feedforward value through a preset compensation calculation mode.
As a preferable technical scheme, the step S2 is to obtain a torque compensation value from the torque feedback and the motor phase information through a preset fitting calculation mode, and to establish a relationship between the torque fluctuation amplitude and the joint encoder phase to obtain a joint phase compensation value, and store the joint phase compensation value to a servo driver.
As a preferable technical solution, the step S3 further includes adding a torque feedforward value to the torque command by the servo driver to compensate.
As an optimal technical scheme, the fitting calculation mode is high-order sine function waveform fitting, and the high-order sine curve is obtained through fitting by a fitting formula.
As a preferred technical solution, the fitting formula is as follows:
wherein T is cmp For torque compensation value, θ m G is the phase angle of the motor i For the higher order of the fit,and fitting the compensation value.
As a preferable technical solution, the calculation formula of the compensation calculation mode is as follows:
wherein T is ff For a torque feed-forward value added to the torque command,the amplitude is compensated for the phase of the joint recorded in the servo drive.
As a preferred embodiment, the joint phase compensation valueThe torque fluctuation is fed back by a joint encoder, wherein the j range is the number of the periodical torque fluctuation repeated in one rotation of the speed reduction ratio of the speed reduction of the speed reducer.
The invention also provides a flexible joint speed pulsation compensation device, which comprises:
the acquisition module is used for acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle; the processing module is used for obtaining a torque compensation value through the torque feedback and motor phase information through a preset fitting calculation mode, and establishing a relation between the torque fluctuation amplitude and the joint encoder phase to obtain a joint phase compensation value; the storage module is used for storing the torque compensation value and the joint phase compensation value to a servo driver; and the compensation module is used for calculating a torque feedforward value through a preset compensation calculation mode and adding the torque feedforward value into a torque command to compensate.
The invention also provides a flexible joint speed pulsation compensation system, which comprises a memory, a processor and a flexible joint speed pulsation compensation program stored on the memory and capable of running on the processor, wherein the flexible joint speed pulsation compensation is executed by the processor to realize the steps of the flexible joint speed pulsation compensation method.
The invention also provides a storage medium, wherein the storage medium is stored with a flexible joint speed pulsation compensation program, and the flexible joint speed pulsation compensation program realizes the steps of the flexible joint speed pulsation compensation method when being executed by a processor.
The beneficial effects are that: according to the invention, the obtained torque feedback information and motor phase information are subjected to high-order sine function waveform fitting, and are matched with a plurality of joint phase compensation amplitudes in a servo system to calculate a torque feedforward value, and the torque feedforward value is used for compensating the actual torque of the motor during operation, so that the pulsation speed of the flexible joint can be corrected, and the operation precision and stability of the flexible joint motor can be improved, so that the flexible joint motor can operate stably.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a flexible joint velocity pulsation compensation method according to the present invention;
FIG. 2 is a schematic flow chart of a flexible joint velocity pulsation compensation method according to the present invention;
FIG. 3 is a schematic flow chart of a flexible joint velocity pulsation compensation method according to the present invention;
fig. 4 is a schematic structural view of a flexible joint velocity pulsation compensating device according to the present invention.
Detailed Description
The contents of the present invention can be more easily understood by referring to the following detailed description of preferred embodiments of the present invention and examples included. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, the present specification, definitions, will control.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a flexible joint speed pulsation compensation method which can be applied to a servo system of a flexible joint, wherein the servo system comprises a servo driver, a servo motor, a speed reducer, an encoder and a control terminal, and the control terminal can be a computer terminal or a server directly connected with the servo system or a computer terminal or a server connected with equipment for acquiring related data; the servo driver comprises a position controller, a speed controller, a torque controller and a current controller.
Fig. 1 shows a flow diagram of a flexible joint velocity pulsation compensation method according to one embodiment of the invention. As shown in fig. 1, the flexible joint velocity pulsation compensation method comprises the following steps:
s1: acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle;
s2: calculating the torque feedback, the motor phase information and the torque fluctuation amplitude to obtain a torque compensation value, and storing the torque compensation value into a servo driver;
s3: and calculating to obtain a torque feedforward value through a preset compensation calculation mode.
In the step S1, the idle robot flexible joint rotates at a low speed for one turn, and generally, the speed is controlled to be within 50RPM, and the specific low speed of the rotation is not particularly limited.
Fig. 2 shows a flow diagram of a flexible joint velocity pulsation compensation method according to another embodiment of the present invention.
In the step S2, specifically, as shown in fig. 2, the torque feedback and the motor phase information are subjected to a preset fitting calculation mode to obtain a torque compensation value, and the torque fluctuation amplitude and the joint encoder phase are related to obtain a joint phase compensation value, and the joint phase compensation value is stored in a servo driver. The torque fluctuation amplitude is the torque fluctuation amplitude of a plurality of fixed positions in one rotation of the idle flexible joint.
Preferably, the fitting calculation mode is a high-order sine function waveform fitting, and the high-order sine curve is obtained through fitting by a fitting formula. According to the invention, the obtained torque feedback information and motor phase information are subjected to high-order sine function waveform fitting, and are matched with a plurality of joint phase compensation amplitudes in a servo system to calculate a torque feedforward value, and the torque feedforward value is used for compensating the actual torque of the motor during operation, so that the pulsation speed of the flexible joint can be corrected, and the operation precision and stability of the flexible joint motor can be improved, so that the flexible joint motor can operate stably.
Preferably, the fitting formula is as follows:
wherein T is cmp For torque compensation value, θ m G is the phase angle of the motor i For the higher order of the fit,and fitting the compensation value.
Fig. 3 shows a flow diagram of a flexible joint velocity pulsation compensation method according to another embodiment of the present invention.
In the above step S3, specifically, as shown in fig. 3, the calculation formula of the compensation calculation mode is as follows:
wherein T is ff For a torque feed-forward value added to the torque command,compensating amplitude for joint phase in servo drive
Preferably, the joint phase compensation valueThe j range is the number of periodical torque fluctuations reproduced in one rotation of the speed reduction ratio of speed reduction of the speed reducer.
Specifically, the rotational speed of the joint is slowed down by the deceleration action of the speed reducer, but the output rotational speed of the servo system is periodically changed, namely, torque fluctuation, due to a certain deceleration error of the speed reducer. Such torque ripple may adversely affect the accuracy and stability of the robot, and its effect is eliminated by phase compensation. To achieve joint phase compensation, the range of values for j needs to be determined first. Since the periodic torque ripple is related to the reduction ratio and the mechanical structure, the value range of j can be defined according to the reduction ratio and the number of periodic torque ripples reproduced in one rotation. For example, if the reduction ratio is selected to be 10:1, the number of cyclical torque fluctuations that recur in one revolution is 5, the value range of j is 0-49 (i.e., the number of cyclical torque fluctuations that recur in one revolution of the reduction ratio is 10×5, i.e., 50, and thus the value range of j is 0-49). After the value range of j is determined, the joint angle can be fed back through a joint encoder, and then calculated according to a corresponding joint phase compensation formulaIs a value of (2).
Preferably, the step S3 further includes adding a torque feedforward value to the torque command by the servo driver to compensate. By implementing the flexible joint speed pulsation compensation method, the pulsation speed of the flexible joint can be corrected, and the torque pulsation at medium and low speeds caused by the factors such as uneven friction of a harmonic speed reducer, cogging torque of a motor and the like is reduced, so that the flexible joint speed pulsation compensation method is more stable in operation and lower in noise and vibration.
Correspondingly, the embodiment of the invention also provides a flexible joint speed pulsation compensation device, which can execute the flexible joint speed pulsation compensation method provided by any embodiment of the invention and has the corresponding functional modules and beneficial effects of the execution method. Fig. 4 illustrates a schematic structure of a flexible joint velocity pulsation compensating device of a robot according to an embodiment of the present invention.
As shown in fig. 4, the apparatus includes: the acquisition module 100 is used for acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle; the processing module 200 obtains a torque compensation value through a preset fitting calculation mode by the torque feedback and motor phase information, and obtains a joint phase compensation value by establishing a relation between the torque fluctuation amplitude and the joint encoder phase; a storage module 300 for storing the torque compensation value and the joint phase compensation value to a servo driver; the compensation module 400 is configured to calculate a torque feedforward value according to a preset compensation calculation mode and add the torque feedforward value to the torque command to compensate.
Correspondingly, the embodiment of the invention also provides a flexible joint speed pulsation compensation system, which comprises a memory, a processor and a flexible joint speed pulsation compensation program stored on the memory and capable of running on the processor, wherein the flexible joint speed pulsation compensation is executed by the processor to realize the steps of the flexible joint speed pulsation compensation method in any embodiment.
In this embodiment, the method implemented when the flexible joint velocity pulsation compensation program running on the processor is executed may refer to the above-mentioned flexible joint velocity pulsation compensation embodiments of the present invention, and will not be described herein.
Correspondingly, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a flexible joint speed pulsation compensation program, and the flexible joint speed pulsation compensation program realizes the steps of flexible joint speed pulsation compensation in any embodiment when being executed by a processor.
In the present embodiment, the storage medium may include, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (random access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic or optical cards, and other various media capable of storing program codes.
It will be appreciated by those skilled in the art that the steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It should be noted that, other contents of the flexible joint velocity pulsation compensation method disclosed in the present invention may be referred to the prior art (for example, the servo system, the servo driver, the joint encoder, the torque command, etc. according to the embodiments of the present invention may be implemented by using related technologies already mature in the art, and those skilled in the art will understand that details are not repeated here).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A method for velocity pulsation compensation of a flexible joint, comprising the steps of:
s1: acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle;
s2: calculating the torque feedback, the motor phase information and the torque fluctuation amplitude to obtain a torque compensation value, and storing the torque compensation value into a servo driver;
s3: and calculating to obtain a torque feedforward value through a preset compensation calculation mode.
2. The flexible joint velocity pulsation compensation method according to claim 1, wherein the step S2 is to obtain a torque compensation value from the torque feedback and the motor phase information through a preset fitting calculation mode, and to obtain a joint phase compensation value from the torque fluctuation amplitude and the joint encoder phase by establishing a relation, and to store the joint phase compensation value in a servo driver.
3. The flexible joint velocity pulsation compensation method according to claim 2, wherein the step S3 is followed by adding a torque feedforward value to the torque command by the servo driver for compensation.
4. The flexible joint velocity pulsation compensation method according to claim 2, wherein the fitting calculation mode is a higher order sine function waveform fitting, and the higher order sine curve is obtained through fitting formula fitting.
5. The method of claim 4, wherein the fitting formula is as follows:
wherein T is cmp For torque compensation value, θ m G is the phase angle of the motor i For the higher order of the fit,and fitting the compensation value.
6. The flexible joint velocity pulsation compensation method according to claim 2, wherein a calculation formula of the compensation calculation mode is as follows:
wherein T is ff For a torque feed-forward value added to the torque command,the amplitude is compensated for the phase of the joint recorded in the servo drive.
7. The flexible joint velocity pulsation compensation method according to claim 6, wherein the joint phase compensation valueThe torque fluctuation is fed back by a joint encoder, wherein the j range is the number of the periodical torque fluctuation repeated in one rotation of the speed reduction ratio of the speed reduction of the speed reducer.
8. A flexible joint velocity pulsation compensation device, comprising:
the acquisition module is used for acquiring torque feedback, motor phase information and torque fluctuation amplitude in the process of rotating the flexible joint of the idle robot at a low speed for one circle;
the processing module is used for obtaining a torque compensation value through the torque feedback and motor phase information through a preset fitting calculation mode, and establishing a relation between the torque fluctuation amplitude and the joint encoder phase to obtain a joint phase compensation value;
the storage module is used for storing the torque compensation value and the joint phase compensation value to a servo driver;
and the compensation module is used for calculating a torque feedforward value through a preset compensation calculation mode and adding the torque feedforward value into a torque command to compensate.
9. A flexible joint velocity pulsation compensation system, characterized by comprising a memory, a processor and a flexible joint velocity pulsation compensation program stored on the memory and executable on the processor, which flexible joint velocity pulsation compensation, when executed by the processor, implements the steps of the flexible joint velocity pulsation compensation method according to any of claims 1-7.
10. A storage medium, wherein a flexible joint velocity pulsation compensation program is stored on the storage medium, which when executed by a processor, implements the steps of the flexible joint velocity pulsation compensation method according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310553880.4A CN116460853B (en) | 2023-05-17 | 2023-05-17 | Flexible joint speed pulsation compensation method, device, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310553880.4A CN116460853B (en) | 2023-05-17 | 2023-05-17 | Flexible joint speed pulsation compensation method, device, system and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116460853A true CN116460853A (en) | 2023-07-21 |
| CN116460853B CN116460853B (en) | 2024-06-04 |
Family
ID=87180851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310553880.4A Active CN116460853B (en) | 2023-05-17 | 2023-05-17 | Flexible joint speed pulsation compensation method, device, system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116460853B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010105813A (en) * | 2000-05-18 | 2001-11-29 | 구자홍 | Speed control method for 3 phase machines using 4 switching elements |
| JP2005210786A (en) * | 2004-01-20 | 2005-08-04 | Sanmei Denshi Sangyo Kk | Microstep driving unit for stepping motor, and its control method, and its operation method |
| WO2010024195A1 (en) * | 2008-08-26 | 2010-03-04 | 株式会社明電舎 | Electric motor disturbance suppression device and disturbance suppression method |
| WO2014045760A1 (en) * | 2012-09-18 | 2014-03-27 | 日産自動車株式会社 | Motor control device and motor control method |
| WO2015096090A1 (en) * | 2013-12-26 | 2015-07-02 | 广东美芝制冷设备有限公司 | Method and device for automatically compensating for moment of compressor, compressor, and control method for same |
| US20160134218A1 (en) * | 2013-06-10 | 2016-05-12 | Meidensha Corporation | Automatic suppression device for cyclic disturbance |
| US20190245463A1 (en) * | 2018-02-02 | 2019-08-08 | Mando Corporation | Apparatus and method of compensating for steering torque of driving motor |
| CN110855203A (en) * | 2018-08-20 | 2020-02-28 | 日本电产株式会社 | Motor control system and power steering apparatus |
| CN111515962A (en) * | 2020-06-04 | 2020-08-11 | 桂林电子科技大学 | Transmission error compensation control method for flexible joint with harmonic reducer |
| KR20210068290A (en) * | 2019-11-29 | 2021-06-09 | 주식회사 로보비즈코어 | Apparatus of suprressing torque ripple caused by misalignment of multi-stage gearbox using harmonic current injectioon method |
| CN112994571A (en) * | 2019-12-17 | 2021-06-18 | 广东美芝制冷设备有限公司 | Compressor, control method thereof, torque compensation method, torque compensation device and storage medium |
| CN113653793A (en) * | 2021-09-01 | 2021-11-16 | 上海节卡机器人科技有限公司 | Harmonic reducer transmission error compensation method and device and electronic equipment |
-
2023
- 2023-05-17 CN CN202310553880.4A patent/CN116460853B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010105813A (en) * | 2000-05-18 | 2001-11-29 | 구자홍 | Speed control method for 3 phase machines using 4 switching elements |
| JP2005210786A (en) * | 2004-01-20 | 2005-08-04 | Sanmei Denshi Sangyo Kk | Microstep driving unit for stepping motor, and its control method, and its operation method |
| WO2010024195A1 (en) * | 2008-08-26 | 2010-03-04 | 株式会社明電舎 | Electric motor disturbance suppression device and disturbance suppression method |
| WO2014045760A1 (en) * | 2012-09-18 | 2014-03-27 | 日産自動車株式会社 | Motor control device and motor control method |
| US20160134218A1 (en) * | 2013-06-10 | 2016-05-12 | Meidensha Corporation | Automatic suppression device for cyclic disturbance |
| EP3098449B1 (en) * | 2013-12-26 | 2020-12-23 | Guangdong Meizhi Compressor Co., Ltd. | Method and device for automatically compensating for moment of compressor, compressor, and control method for same |
| WO2015096090A1 (en) * | 2013-12-26 | 2015-07-02 | 广东美芝制冷设备有限公司 | Method and device for automatically compensating for moment of compressor, compressor, and control method for same |
| US20190245463A1 (en) * | 2018-02-02 | 2019-08-08 | Mando Corporation | Apparatus and method of compensating for steering torque of driving motor |
| CN110855203A (en) * | 2018-08-20 | 2020-02-28 | 日本电产株式会社 | Motor control system and power steering apparatus |
| KR20210068290A (en) * | 2019-11-29 | 2021-06-09 | 주식회사 로보비즈코어 | Apparatus of suprressing torque ripple caused by misalignment of multi-stage gearbox using harmonic current injectioon method |
| CN112994571A (en) * | 2019-12-17 | 2021-06-18 | 广东美芝制冷设备有限公司 | Compressor, control method thereof, torque compensation method, torque compensation device and storage medium |
| CN111515962A (en) * | 2020-06-04 | 2020-08-11 | 桂林电子科技大学 | Transmission error compensation control method for flexible joint with harmonic reducer |
| CN113653793A (en) * | 2021-09-01 | 2021-11-16 | 上海节卡机器人科技有限公司 | Harmonic reducer transmission error compensation method and device and electronic equipment |
Non-Patent Citations (5)
| Title |
|---|
| ANDREAS TOBERGTE: "Direct force reflecting teleoperation with a flexible joint robot", 《2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》, 18 May 2012 (2012-05-18) * |
| G LIU: "Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation", MECHATRONICS, 30 September 2004 (2004-09-30) * |
| 付建宁;詹涵菁;黄文康;: "空间机械臂关节非线性摩擦建模及补偿", 机械传动, no. 12, 15 December 2014 (2014-12-15) * |
| 廖宇盛: "协作机器人机电一体化关节振动抑制方法研究", 《中国优秀硕士学位论文全文数据库 工程科技2辑》, 15 January 2022 (2022-01-15) * |
| 韩邦成;马纪军;李海涛;: "谐波减速器的非线性摩擦建模及补偿", 光学精密工程, no. 05, 15 May 2011 (2011-05-15) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116460853B (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100889961B1 (en) | Method and system for compensating position error of step motor | |
| US10632615B2 (en) | Servo driving method, apparatus, and robot thereof | |
| US10429815B2 (en) | Motor control device, position control system, and motor control method | |
| CN1337045A (en) | Method and apparatus for adaptive feedforward cancellation | |
| CN109483529A (en) | A kind of mechanical arm method of servo-controlling, system and device based on screw theory | |
| CN1051182C (en) | Device for controlling speed of rotating motor | |
| JP4940411B2 (en) | Analog angle sensor accuracy correction program, correction method, recording medium, and servo driver | |
| JP5321449B2 (en) | Motor control device | |
| CN116460853B (en) | Flexible joint speed pulsation compensation method, device, system and storage medium | |
| US10505478B2 (en) | Motor module, motor step operation control system, and motor control device | |
| CN112994551B (en) | Servo motor torque compensation method | |
| JP2016032326A (en) | Motor controller, robot device, motor control method, program, and recording medium | |
| CN112865614A (en) | Alternating current servo system | |
| US10684594B2 (en) | Machine learning device, servo motor controller, servo motor control system, and machine learning method | |
| CN115580184B (en) | Control method of driving and controlling integrated stepping motor and dispensing equipment | |
| CN109634273B (en) | Following control method and device for movable equipment | |
| JP2004336949A (en) | Motor drive control method and motor drive controller | |
| CN113671824A (en) | High-precision position control system and method for belt type transmission device | |
| Polyuschenkov | Development of control system for interconnected electric drives with electromechanical torsion | |
| KR100925274B1 (en) | Circuit and apparatus for controlling multi-axis motion | |
| CN111527457B (en) | Drive controller with independent error correction for position error | |
| JP2003084839A (en) | Motor controller with function of overshoot suppression | |
| JPH07306707A (en) | Learning control method for robot | |
| CN117879434A (en) | Servo motor driving method, device, medium, processor and servo system | |
| CN117240166A (en) | Motor initial electrical angle detection method, device, servo control system, medium and processor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |