A Vibration Suppression Control Strategy Based on Grey Wolf Optimization Algorithm

Nowadays, robot vibration is an important factor affecting the execution accuracy, especially in some multi-field coupling occasions, such as welding operations in the thermal field, grinding operations in the stress field. However, the flexible joints of the robots will inevitably generate vibration during work, which influences the efficiency of the robots and the quality of manipulating object. This paper designs a vibration suppression control strategy based on Grey Wolf optimization algorithm in order to suppress vibration of the industrial robot. The dynamic model of the flexible joints of the robot is established. Based on the finite element analysis of the modal parameters of the robot, the influence of the fluctuation in the flexible joints on the vibration and the change trend of the elastic potential energy in different joint trajectories are analyzed. Then, the Grey Wolf Optimization algorithm is used to optimize the flexible joint trajectory. Optimal the joint trajectory with minimum fluctuation to suppress vibration caused by sudden change of robot state. Taking the multi-layer and multi-pass welding operation of welding robot as an example, the linear path vibration suppression experiment based on this strategy is carried out which shows that the control method can effectively suppress vibration of the manipulator through the configuration of angular velocity and angular acceleration, and the feasibility of the vibration suppression control strategy is verified.