Location control method of 2R underactuated planar mechanical arm based on subdivision control

Abstract

The invention discloses a location control method of a 2R underactuated planar mechanical arm based on subdivision control. The location control method of the 2R underactuated planar mechanical arm based on subdivision control comprises the following steps: establishing an underactuated planar mechanical arm mechanics module with a driving first joint and a driven second joint, and considering Coulomb friction force and viscous friction force of joints in the module. To an underactuated robot, the friction of the driving joint can be directly compensated by a motor, but the driven joint can not be compensated, and the friction force of the driven joint is utilized. By adopting a time scale method and a proportion integration differentiation (PID) control method, the location control method of the 2R underactuated planar mechanical arm based on subdivision periodically starts joint space and location control to the 2R underactuated planar mechanical arm, and further achieves positioning control to the tail end of the robot. A research objective of the location control method is an underactuation system which includes entirely free joints, and so that the location control method of the 2R underactuated planar mechanical arm based on subdivision control has the advantages of being simplified in a mechanical device and pervasive in the control objective. The location control method of the 2R underactuated planar mechanical arm based on subdivision control utilizes a simple and feasible control method to realize the location control of the 2R underactuated planar mechanical arm, avoids to adopt complex and profound nonlinear control methods, and achieves the purposes of being distinct in train of thought, simple to programming and easy to achieve.

Description

Technical field [0001] The invention relates to a position control method of a 2R under-actuated planar mechanical arm. [0002] This control method mainly involves the joint position control of a 2R under-actuated planar manipulator with free joints, especially the use of passive joint friction, and a simple and easy segmented control method to obtain simultaneous positioning of active and passive joints. Segment and design the corresponding controller, which can realize the complicated operation task of the under-actuated planar manipulator. Background technique [0003] The degree of freedom of a traditional tandem robot is equal to the number of joint drivers, and the mass of the latter driver becomes the load of the previous driver. In this way, compared to the end load of the robot, the base driving device is very large. The under-actuated robotic arms with passive joints that have emerged in recent years provide new ideas for reducing robot components and weight. They have ...

AI Technical Summary

Problems solved by technology

However, for nonholonomic and nonlinear control methods, it is usually necessary to master complex and profound mathematical background knowledge and control theory, which is generally not easy to master. For second-order nonholonomic systems such as underactuated planar manipulators, the difficulty of control Therefore, how to use a simple and feasible control method to obtain satisfactory motion of the underactuated planar manipulator is a very urgent problem

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