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Volume 29Issue 4
Dec. 2020
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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2020> 29(4): 456-465
Weiling Zhang, Qinjun Du, Zhengyang Zhao, Chuanming Song, Wei Ding, Yonggang Luo. Resonance Suppression Strategy for Humanoid Robot Arm[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2020, 29(4): 456-465. doi: 10.15918/j.jbit1004-0579.20020
Citation: Weiling Zhang, Qinjun Du, Zhengyang Zhao, Chuanming Song, Wei Ding, Yonggang Luo. Resonance Suppression Strategy for Humanoid Robot Arm[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2020, 29(4): 456-465.doi:10.15918/j.jbit1004-0579.20020
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Resonance Suppression Strategy for Humanoid Robot Arm

doi:10.15918/j.jbit1004-0579.20020

  • School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo 255049, Shandong, China

Funds:the National Key Technology Research and Development Program of China (2018YFC1707104); National Natural Science Foundation of China (62076152); Natural Science Foundation of Shandong Province (ZR2017MF045); Beijing Advanced Innovation Center for Intelligent Robots and Systems
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    Abstract
  • To address the problem of resonance in the control of a robot arm, a resonance suppression 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 recognized as the disturbance of the current loop. The PR controller has the characteristic of disturbance 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 demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively, improving the dynamic performance and system stability.
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