Research on intelligent vibration suppression control of high-speed lightweight Delta robot

Abstract

Lightweight Delta robot is typical high-speed and high-precision industrial parallel robot. However, under high-speed condition, because of the lightweight components, it will inevitably lead to the vibration of Delta robot, which reduces the position accuracy and positioning efficiency. To solve this problem comprehensively, this article considers the process vibration and residual vibration of Delta robot, and the intelligent shaping vibration suppression control system is designed by using trajectory planning method of improved trapezoidal mode, shaping control method, and fast terminal sliding mode controller, and the detailed experimental analysis is carried out. The experimental results show that the proposed intelligent shaping vibration suppression control method can well suppress the process vibration and residual vibration of Delta robot, which can effectively improve the operation stability, work efficiency, and position accuracy of Delta robot.