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A Boundary Control Method for Suppressing Vibration of Flexible Manipulator

A flexible manipulator, boundary control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as limited

Inactive Publication Date: 2016-01-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • 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. 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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  • A Boundary Control Method for Suppressing Vibration of Flexible Manipulator

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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 suppressing the vibration of a flexible manipulator. By analyzing the flexible manipulator system and establishing a mathematical model, and then combining the mathematical model to design a boundary controller for the flexible manipulator system, and then controlling the The stability analysis of the flexible manipulator system is carried out, and the motion state of the system is simulated, and the control parameters of the system are adjusted according to the simulation results to make it finally meet the design requirements. In this way, firstly, the vibration of the flexible manipulator can be effectively suppressed during the working process. Secondly, when designing the boundary controller, the present invention adds the function of driving the flexible manipulator to a specified position, so that the position tracking of the flexible manipulator can also be realized.

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