Research on Active Suppression Methods for End-Effector Residual Vibration of Heavy-Load Collaborative Robots in Arbitrary Poses

Heavy-load collaborative robots are increasingly used in fields such as the industrial handling and precision assembly. With the increase in the end load of the robotic arm and the acceleration of its movement speed, after the robotic arm completes a preset trajectory, due to factors such as inertia, the flexibility of the robotic arm's rods and the harmonic reducer materials at the joints, there will still be residual vibration for a period of time after the robotic arm reaches the end point. On the one hand, residual vibration will have an adverse impact on the high-precision and high-performance operations of the robotic arm, affecting the operation accuracy and thus the production quality. On the other hand, many operations need to wait until the robotic arm completely stops before proceeding. In practical applications, the time spent waiting for the robotic arm to stop significantly affects efficiency. Therefore, effectively suppressing residual vibration is crucial to improving the performance of the robotic arm.To solve the problem of end residual vibration in heavy-load six-axis collaborative robots, this paper conducts research on input shaping and the estimation of robot end vibration parameters in arbitrary poses. The vibration parameters of the robot end in arbitrary poses are estimated based on the established vibration parameter model. An input shaper is designed according to the derived design method of the input shaper, achieving a certain suppression effect on the residual vibration of the robot end. When the parameter identification error is small, the optimized vibration suppression effect reaches more than 70%, realizing rapid and robust vibration suppression. This research is of great significance for enhancing the application value of collaborative robots in precision manufacturing and heavy-duty handling.