Research on Multibody Dynamics Modeling and LQR Optimal Active Vibration Control of Milling Robots

This paper establishes a multibody dynamics model of a milling robot system based on the transfer matrix method of multibody systems, forming the total transfer matrix and total transfer equation of the system. According to the vibration characteristics and dynamic responses of industrial robots, we studied the LQR (Linear Quadratic Regulator) optimal active vibration control method and verified its effectiveness through modal control simulation. The simulation results show that the LQR optimal active vibration control method based on the multibody dynamics model of the milling robot can reduce the vibration at the robot's tool tip, providing support for the feasible and effective implementation of the LQR control method in vibration suppression during robot milling.