Position and posture control method for planar 4R under-actuation mechanical arm

Abstract

The invention provides a position and posture control method for a planar 4R under-actuation mechanical arm. At least three degrees of freedom are required for a full-actuation to achieve position and posture control of the horizontal movement mechanical arm. Relative to the under-actuation mechanical arm, at least one free joint is arranged, and thus a robot with three degrees of freedom is difficult to simultaneously achieve control of the position and posture of the robot. The planar 4R under-actuation mechanical arm with four rotating pairs is regarded as a target for research, posture control of an end pole and track tracing control of a terminal point serve as goals, a controller is designed on the basis of a fuzzy control theory, and then the controller is subjected to simulated analysis through ADAMS and MATLAB joint simulation. The position and posture control method for the plane 4R under-actuation mechanical arm is based on the fuzzy control theory and researches the position and posture control method for the horizontally moving four-degree-of-freedom under-actuation mechanical arm. According to hierarchical control thinking, an established control strategy includes the following contents that movement of a first active joint and a second active joint is controlled for achieving track tracing of the terminal point, and a third active joint is controlled for achieving posture control of the end pole.

Description

technical field [0001] The invention relates to a method for controlling the pose of a plane 4R underactuated manipulator, which realizes the pose control of the end rod of the plane 4R underactuated manipulator whose fourth joint is a passive joint, that is, the end of the manipulator is tracking a straight line or an arc track. At the same time, the attitude control of the passive rod is realized. Background technique [0002] In the control of the full-drive manipulator, each joint of the manipulator is controlled and driven by its own motor, which is relatively simple in motion control. Generally, it is only necessary to realize the motion control goal of the manipulator from the perspective of kinematics. . However, with the development of modern science and technology, there are new challenges to the design of mechanical products. Light weight, low energy consumption, high speed, and intelligence have become the development trend of modern mechanical equipment. In rec...

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Problems solved by technology

Model-based controllers are sensitive to model errors, system parameter changes, and external disturbances, which

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