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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
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  • Summary
  • Abstract
  • Description
  • Claims
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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. For systems such as industrial mechanical arms that need both vibration suppression and angle control, the current research is very important. limited

Method used

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  • 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

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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...

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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

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Application Information

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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
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