Mechanical arm motion control method

Abstract

A mechanical arm motion control method comprises the following steps of: (1) establishing complete corresponding transformation transfer matrices of n connecting rods, working out linear velocities and angular velocities of the connecting rods, (2) calculating centers of mass of the connecting rods to obtain inertia tensors, working out total kinetic energy and total potential energy of a mechanical arm, obtaining a partial derivative of the difference between the total kinetic energy and the total potential energy to a generalized coordinate q of the mechanical arm, obtaining a relationship between a driving force vector tau and q, q', establishing a mathematical model, and (3) performing iterative calculation on set time with a variable gain iterative control algorithm for each time point, acquiring an error between each time point and expected pose qd, subtracting the errors from the current pose q(0) to obtain an initial error e'1(0), taking the driving force vector tau as system input, performing the iterative calculation on the set time with the variable gain iterative control algorithm, obtaining the driving force vector tau required to control the mechanical arm to reach the expected pose at each time point. The method is higher in control precision and good in flexibility, and is applicable to non-linear and time-varying occasions.

Description

technical field [0001] The invention belongs to the technical field of motion control and is suitable for a motion control method of a mechanical arm. Background technique [0002] At present, the domestic robotic arm industry is developing rapidly, and there are many types of controllers. However, for a multi-degree-of-freedom horizontal multi-joint manipulator, due to the characteristics of the robot such as inertial force, joint coupling, and gravity load changes, its control system is a nonlinear, strongly coupled, multi-variable, and relatively complex control system, which is difficult to control It builds an accurate model, which brings great difficulties to the control of the robot. For the consideration of realization and economy, the control system design method of most commercial robots still treats each joint of the robot as a simple servo mechanism. The movement of the robot achieves high precise positioning accuracy, but there are still many shortcomings. C...

AI Technical Summary

Problems solved by technology

However, for a multi-degree-of-freedom horizontal multi-joint manipulator, due to the characteristics of the robot such as inertial force, joint coupling, and gravity load changes, its control system is a nonlinear, strongly coupled, multi-variable, and relatively complex control system, which is difficult to control It builds an accurate model, which brings great difficulties to the control of the robot

For the consideration of realization and economy, the control system design method of most commercial robots still treats each joint of the robot as a simple servo mechanism. The movement of the robot achieves high precise positioning accuracy, but there are still many shortcomings

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