The Precision Improvement of Robot Integrated Joint Module Based on a New ADRC Algorithm

This article analyzes the factors causing the precision error of the robot joint module, such as gear meshing disturbance, output elastic deformation, and load mutation. An improved active disturbance rejection control (ADRC) algorithm is proposed to overcome the uncertainty of nonlinear factors and...

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Bibliographic Details
Published in:Machines (Basel) 2024-10, Vol.12 (10), p.712
Main Authors: Wang, Gang, Fang, Shuhua
Format: Article
Language:English
Subjects:
Accuracy
active disturbance rejection control
Algorithms
Analysis
Control algorithms
Control theory
Deformation analysis
Design
Elastic analysis
Elastic deformation
Error analysis
Kinematics
Magnets, Permanent
Meshing
Modules
Motion control
Nonlinear control
permanent magnet synchronous motor
Permanent magnets
R&D
Research & development
Robot control
robot integrated joint module
Robotics
Robots
State observers
Synchronous motors
Torque
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Description
Summary:This article analyzes the factors causing the precision error of the robot joint module, such as gear meshing disturbance, output elastic deformation, and load mutation. An improved active disturbance rejection control (ADRC) algorithm is proposed to overcome the uncertainty of nonlinear factors and variables of this research topic. The output precision loss of the joint module is introduced as a new input variable of ADRC, combined with the input variable of torque current of the joint module. The extended state observer is redesigned, and the online estimation of disturbance is realized. According to the disturbance estimation results, the current loop algorithm of permanent magnet synchronous motors is improved to compensate the torque disturbance of the robot joint module. The experimental results show that the improved ADRC algorithm can obviously suppress the disturbance of the joint module, weaken the meshing error and torque output deformation of the harmonic reducer gear, and improve the control accuracy of the joint module.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines12100712