Method for controlling position of 2R under-actuated plane flexible mechanical arm

A flexible manipulator and control method technology, applied in manipulators, manufacturing tools, etc., can solve the problems of increasing the difficulty of control design and the flexibility of rods that cannot be ignored.

Inactive Publication Date: 2013-08-07
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

[0009] In addition, for underactuated flexible manipulators, since underactuation and flexibility are considered at the same time, in addition ...

Method used

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  • Method for controlling position of 2R under-actuated plane flexible mechanical arm
  • Method for controlling position of 2R under-actuated plane flexible mechanical arm
  • Method for controlling position of 2R under-actuated plane flexible mechanical arm

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Experimental program
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Embodiment 1

[0066] The specific structure of the 2R underactuated planar flexible manipulator provided by the present invention refers to Figure 6 (1-motor in the figure; 2-first joint; 3-rigid rod; 4-flexible rod; 5-second joint; 6-encoder), the specific steps for position control are as follows, and the control process refers to Figure 7 .

[0067] (1) Establishment of dynamic model

[0068] Taking the 2R underactuated flexible manipulator as the research object, in which the second joint is passive and the second rod is flexible, the dynamic model of the system is established by using the assumed mode method as

[0069] D 11 · q · · 1 + D ...

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Abstract

The invention provides a method for controlling a position of a 2R under-actuated plane flexible mechanical arm. The method comprises the following steps: an assumed mode method is adopted to establish a dynamic model synthetically considering joint passivity, rod piece flexibility and joint friction, of the 2R under-actuated plane flexible mechanical arm; and aiming at the characteristics of flexibility and under-actuating which simultaneously exist in the system, and on the base of a time-scale and PID control method, a segmented control strategy is designed so as to realize the position control of an active joint and a passive joint, thereby finishing the tail-end operation of a whole robot. Compared with a conventional full-drive rigidity system, the under-actuated plane flexible mechanical arm provided by the invention has the advantages of light weight, low energy consumption and compact structure; by the segmented control design, complex operation and control for the robot can be realized by using the simple method; a nonlinear theory and a nonlinear theory solving method are avoided; and the purpose of simple method and easiness in realization are achieved.

Description

technical field [0001] The invention relates to a control method of a 2R under-actuated plane flexible mechanical arm. [0002] This control method mainly relates to the position control method of the underactuated flexible manipulator, especially for the 2R underactuated planar system with both free joints and flexible rods, the simple and feasible control method can realize the simultaneous positioning of the two joints. The complex operation tasks at the end of the underactuated planar flexible manipulator can be realized by rationally segmenting and designing the corresponding controller. Background technique [0003] Underactuated planar flexible robot is an emerging field of robotics research based on the comprehensive consideration of joint free motion and rod structure optimization. It provides new ideas and has important practical significance in the fields of space, deep sea and nuclear industry environment. [0004] 1. Requirements for the development of lightwe...

Claims

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Application Information

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IPC IPC(8): B25J13/00
Inventor 陈炜
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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