Reconfigurable mechanical arm decentralized control system and control method adopting position measuring

Abstract

A reconfigurable mechanical arm decentralized control system and control method adopting position measuring belong to the field of robot control systems and control algorithms, and aim to solve the problems existing traditional reconfigurable mechanical arm control systems and methods thereof. The control method comprises the steps of initializing a system, detecting a reading of an incremental encoder to obtain position measuring information, and establishing a non-linear speed observer based on the information; according to the established non-linear speed observer, establishing a disturbance observation model; adopting an observation value obtaining a joint speed and a joint torque to establish a reconfigurable mechanical arm system dynamics model; by a given joint speed observer, a torque observer, expected dynamics information and the system dynamics model, adopting dynamics information of local joints to design a decentralized controller, compensating the modeling errors containing model determining items and friction and coupling items among joints, and inhibiting buffeting of the controller and enabling a mechanical arm joint to precisely trace an expected track.

Description

technical field [0001] The invention relates to a distributed control system and control method of a reconfigurable manipulator using only position measurement, belonging to the field of robot control systems and control algorithms. Background technique [0002] Reconfigurable manipulator is a kind of manipulator with standard modules and interfaces, and can recombine and configure its own configuration according to different task requirements. The joint module of the reconfigurable manipulator includes drive, control, sensing and other units, which can make the manipulator change its own configuration according to the task, so that the reconfigured manipulator can have better adaptability to the new working environment . Generally speaking, the number of configurations that can be generated by a reconfigurable manipulator depends on the type, degree of freedom, and number of interfaces of the joint module and the link module, etc., and a variety of different assembly confi...

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Problems solved by technology

In order to meet the above requirements, the traditional centralized control method needs to consume a large amount of computing resources. W

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