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

A distributed control system and robotic arm technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult to guarantee the stability and reliability of the controller, large computing resources, etc.

Active Publication Date: 2015-12-30
CHANGCHUN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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. When the structure of the manipulator system is relatively complex, the stability and reliability of the controller are difficult to guarantee.

Method used

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

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Embodiment Construction

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0051] Such as figure 1 As shown, the distributed control system of the reconfigurable manipulator of the present invention includes an incremental encoder 1, a DC motor 2, a harmonic reducer 3, a rigid coupling element 4 and a connecting rod 5; wherein, the resolution is 4096count The incremental encoder 1 of / rev is installed at the front end of the DC motor 2 to measure the position variable of the DC motor 2; the 48V DC motor 2 is used as the drive device of the system, and the DC motor 2 is connected to the harmonic reducer 3; a typical The harmonic reducer 3 is used as the reduction device of the system to realize the functions of deceleration and torque amplification. Because the harmonic reducer has the advantages of high reduction ratio, small size, light weight, and coaxial assembly, the harmonic reducer is used as the The deceleration device can m...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1633
Inventor 董博李元春刘克平张鹏
Owner CHANGCHUN UNIV OF TECH
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