In order to eliminate the influence of the joint torsional vibration on the system operation\naccuracy, the parameter identification and the elastic torsional vibration control of a flexible-joint\nrobot are studied. Firstly, the flexible-joint robot system is equivalent to a rotor dynamic system, in\nwhich the mass block and the torsion spring are used to simulate the system inertia link and elasticity\nlink, for establishing the system dynamic model, and the experimental prototype is constructed.\nThen, based on the mechanism method, the global electromechanical-coupling dynamic model of\nthe flexible-joint robot system is constructed to clear and define the mapping relationship between\nthe driving voltage of the DC motor and the rotational speed of joint I and joint II. Furthermore,\nin view of the contradiction between the system response speed and the system overshoot in\nthe vibration suppression effect of the conventional PID controller, a fuzzy PID controller, whose\nparameters are determined by the different requirements in the vibration control process, is designed\nto adjust the driving voltage of the DC motor for attenuating the system torsional vibration. Finally,\nsimulation and control experiments are carried out and the results show that the designed fuzzy PID\ncontroller can effectively suppress the elastic torsional vibration of the flexible-joint robot system\nwith synchronization optimization of control accuracy and dynamic quality.
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