Resonance Suppression Strategy for Humanoid Robot Arm

• 作者: Chuanming Song Qinjun Du Wei Ding Weiling Zhang Yonggang Luo Zhengyang Zhao
• 来源期刊: 北京理工大学学报（英文版）
• 学科: 工学
• 年，卷（期）: 2020,（4）
• 页码范围: 456-465
• 页数: 10页
• 分类号: TM301.2
• 语种: 英文
• DOI: 10.15918/j.jbit1004-0579.20020

摘要

To address the problem of resonance in the control of a robot arm, a resonance suppres-sion strategy is proposed for a single-joint humanoid robot arm based on the proportional-resonant(PR) controller. First, an arm joint model of the humanoid robot is established. Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed. The voltage fluctuation of the drive motor caused by the changes in arm motion is recog-nized as the disturbance of the current loop. The PR controller has the characteristic of disturb-ance rejection at a specific frequency. The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed. Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency. Finally, the control system is verified by MATLAB/Simulink simulation. The simulation results demon-strate that the control strategy for the humanoid robot arm based on the PR controller can sup-press the resonance of the arm effectively, improving the dynamic performance and system stability.