{'fraction_non_alphanumeric': 0.016611295681063124, 'fraction_numerical': 0.0, 'mean_word_length': 5.900763358778626, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Motion control strategy of industrial direct drive robot for vibration suppression

Although it has many advantages such as high mechanical rigidity, fast dynamic response and high efficiency and precision, a direct drive robot is easy to vibrate because of sensibility to non-linearity, variety of parameter and external disturbance. This paper presents a model correction control strategy, which corrects the unmodeled dynamics of control system and suppresses disturbances by a unique control structure with a state observer and a digital low-pass filter, Theoretical and experimental results indicate that this strategy can effectively eliminate high order dynamic, nonlinearity, measurement noise and variation of load torque in the control system, and improves a direct drive robot motion control system's stability, robustness and resistance to disturbances, effectively suppresses the vibration.