Study On The Influence Of Velocity Planning Parameters On Industrial Robot Vibration

With the continuous improvement of industrial automation,the application field of industrial robots will be further expanded and deepened.Industrial robots have become a high-tech industry.The wide application of industrial robots is not only conducive to improving the processing quality and efficiency,but also plays an important role in ensuring human safety,improving the processing environment and reducing production costs.With the wide application of industrial robots,the requirement of processing accuracy is becoming higher and higher.The vibration of industrial robots is an important factor affecting their processing accuracy,so the suppression of robot vibration plays a vital role in improving the accuracy of robots.In order to overcome the shortcomings of existing vibration suppression techniques for industrial robots,this paper proposes a method to verify the influence of velocity planning parameters on the vibration of industrial robots.Based on the above methods,the following contents are studied in this paper:1.The basic research of robot vibration is studied.Firstly,the vibration magnitude of the robot is studied,and the vibration amplitude of the robot is determined as the standard eigenvalue of the vibration;secondly,the experimental equipment and data acquisition principle for vibration signal acquisition are studied;secondly,the calculation of the vibration amplitude is studied;finally,the experimental equipment and principle for joint signal acquisition are introduced.2.The effects of joint acceleration and joint acceleration(jerk)on vibration in time domain.Based on the original data of vibration signal and joint signal,using the signal processing method in time domain,a control variable method is used to design an experimental scheme to explore the effects of joint acceleration and joint jerk on vibration.3.The effects of joint acceleration and joint jerk on vibration in frequency domain.Based on the signal processing method in frequency domain,the self-power spectrum of the signal is studied,and the effects of joint acceleration and joint jerk on vibration are explored from the angle of Fourier transform spectrum analysis of the signal.4.Using the MATLAB software as the experimental platform for data processing,the calculation and processing of experimental data related to the algorithm are completed.Through analysis and calculation,the effectiveness of the algorithm and the exploration of the influencing factors of vibration are verified.