Boundary control method for restraining vibration of flexible mechanical arm

A flexible robot arm and boundary control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve limited and other problems

Inactive Publication Date: 2015-05-06
UNIV OF ELECTRONIC SCI & TECH OF CHINA
View PDF7 Cites 17 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Vibration suppression is one of the basic requirements of control theory, and this kind of application is only limited to the control of system vibration

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
  • Boundary control method for restraining vibration of flexible mechanical arm
  • Boundary control method for restraining vibration of flexible mechanical arm
  • Boundary control method for restraining vibration of flexible mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0044] In order to explain the technical content of the present invention in a more orderly manner, the structure of the flexible manipulator and the working principle of the control system are firstly introduced. Such as figure 1 As shown, the structure of the flexible manipulator system is mainly composed of the manipulator and the rotating motor, and the boundary controller τ(t) is at figure 1 In , the control force τ(t) is used to simplify the expression, which is mainly composed of sensors, controllers and driving devices. The sensor includes a displacement sensor and an inclinometer, which are used to measure the real-time parameters of the robotic arm. In this embodiment, the displacement sensor measures the vibration amplitude of the flexible robotic arm The inclinometer measures the deflection angle θ(t) of the flexible robotic arm, and the boundary controller τ(t) calculates the control force based on the above parameters, so as to drive the motor to make correspond...

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 boundary control method for restraining vibration of a flexible mechanical arm. The boundary control method comprises the steps that a flexible mechanical arm system is analyzed, and a mathematical model is established; then, a boundary controller of the flexible mechanical arm system is designed according to the mathematical model; stability analysis is conduced on the flexible mechanical arm system having the control function, the system movement state is stimulated, control parameters of the system are adjusted according to a simulation result, and the control parameters of the system are finally made to meet the design requirement. Thus, the vibration of the flexile mechanical arm in the working process can be effectively restrained; when the boundary controller is designed, the function of driving the flexible mechanical arm to arrive at a designated spot is added, and thus the position of the flexible mechanical arm can be tracked.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and more specifically relates to a boundary control method for suppressing the vibration of a flexible mechanical arm. Background technique [0002] Robot technology has experienced rapid development for more than half a century, and its application scope has extended from the initial simple industrial production to various fields with the background of industry, medicine, agriculture, construction and military. However, as humans put forward higher requirements for robot performance, such as quality, efficiency, stability, and life expectancy, the mechanical arm, which is an important part of it, is also facing major challenges. Traditional mechanical arms (rigid arms) are designed and manufactured with as much rigidity as possible to meet the relevant requirements for positioning and other operations, so they inevitably have disadvantages such as heavy weight, poor flexibility, high p...

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
IPC IPC(8): B25J9/16G06F17/50G06F19/00
CPCB25J9/1607G06F30/17G16Z99/00
Inventor 贺威杨川何修宇
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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