Method for controlling dynamic surface of flexible joint mechanical arm

A dynamic surface control, flexible joint technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem of non-matching uncertainty, differential explosion and other problems that cannot be solved for flexible joint robotic arms

Inactive Publication Date: 2012-07-11
GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
View PDF5 Cites 28 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, none of these methods can solve the non-matching uncertainty problem in flexible joint manipulators.
Although the backstepping control design can solve the problem of system mismatch uncertainty, there is a phenomenon of "differential explosion"

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for controlling dynamic surface of flexible joint mechanical arm
  • Method for controlling dynamic surface of flexible joint mechanical arm
  • Method for controlling dynamic surface of flexible joint mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach ( 1

[0107] Step 1: Analysis and construction of the control system model of the flexible joint manipulator

[0108] The closed-loop control system adopts a negative feedback control structure to output the angle of the swing rod of the flexible joint manipulator. The designed closed-loop control system is mainly composed of two parts: the controller link and the system model. The structural layout is shown in figure 2 shown.

[0109] Control system model of flexible joint manipulator I q · · + K ( q - q m ) + Mgl sin q = 0 ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for controlling a dynamic surface of a flexible joint mechanical arm. The method comprises the following steps of: 1, analyzing a flexible joint mechanical arm system model, and constructing; 2, controlling and designing the dynamic surface of the flexible joint mechanical arm; 3, inspecting tracking performance, and adjusting parameters; and 4, finishing the design. By the method, virtual control is gradually designed for a flexible joint mechanical arm control system model, a first-order low-pass filter is arranged in each step, and the dynamic surface of the flexible joint mechanical arm can be controlled, so that the phenomenon of differential explosion controlled by reverse thrust is eliminated, the semi-global stability of a closed-loop control system can be ensured, and a preset track can be quickly and accurately tracked by the angle of a connecting rod of the flexible joint mechanical arm at the same time. The method has a wide application prospect in the technical field of automatic control.

Description

(1) Technical field [0001] The invention relates to a dynamic surface control method of a flexible joint mechanical arm, which is aimed at the mechanical equipment system of a power plant, and provides a dynamic surface control method of a flexible joint mechanical arm, which is used to control the connecting rod angle of the flexible joint mechanical arm, It belongs to the technical field of automatic control. (2) Background technology [0002] There are some high-temperature and high-risk operations in thermal power plants, which are not suitable for manual operation. Therefore, it is very important to use mechanical equipment instead of manpower. The flexible joint robotic arm is a very important mechanical device in the industrial field. Its appearance has greatly liberated people's hands, making daily production more efficient and safer. The flexible joint manipulator is a nonlinear strongly coupled system, and it is difficult to control it. Since the connecting rod ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 刘奕宁陈宝林刘金琨
Owner GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap