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Redundant manipulator acceleration layer noise-tolerant control method

A control method, the technology of the robotic arm, applied in the direction of manipulator, program control, general control system, etc.

Active Publication Date: 2017-05-10
HUAQIAO UNIVERSITY
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the existing methods, and provide a noise-tolerant control method for the acceleration layer of a redundant manipulator, which can not only make the manipulator complete a given terminal task in the presence of noise, but also make the manipulator The final velocity of each joint of the arm is close to zero

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the drawings.

[0024] Such as figure 1 The shown noise tolerance control method of the acceleration layer of a redundant manipulator mainly consists of designing a noise-tolerant acceleration layer Jacobian matrix equation 1. Establishing the acceleration layer noise tolerance control scheme 2. Converting to a standard quadratic optimization problem 3. Numerical algorithm solver 4, lower computer controller 5, redundant manipulator 6 are composed of six parts.

[0025] First, according to the Jacobian matrix equation of the acceleration layer of the manipulator, by introducing position error and speed error feedback, a new type of noise-tolerant Jacobian matrix equation is designed; then combined with the performance indicators that need to be optimized, the acceleration layer noise-tolerant control scheme is established. And transform it into a standard quadratic optimization problem, so as to const...

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Abstract

The invention provides a redundant manipulator acceleration layer noise-tolerant control method. The method comprises the following steps of: designing a noise-tolerant novel jacobian matrix equation by introducing position error and speed error feedback according to a manipulator acceleration layer jacobian matrix equation; and establishing an acceleration layer noise-tolerant control scheme in combination with a performance index needing to be optimized, wherein the control scheme is constrained in the novel jacobian matrix equation, the manipulator kinetic equation, the joint angle limit, the joint speed limit, the joint acceleration limit and the joint moment limit; the above mentioned control scheme is translated into a standard quadric form optimization problem, and a numerical algorithm solver is used for solving the standard quadric form optimization problem; a lower computer controller drives the manipulator to complete the given tail end task according to a solving result. The acceleration layer noise-tolerant control method disclosed by the invention not only can enable the manipulator to complete the given tail end task under the noise condition, but also can enable the final state speed of each joint of the manipulator to approach to zero.

Description

Technical field [0001] The invention relates to the field of planning and control of a redundant manipulator, in particular to a noise tolerance control method of an acceleration layer of a redundant manipulator. Background technique [0002] A redundant manipulator is a mechanical device with more degrees of freedom than the minimum degree of freedom required to perform end tasks. Its end tasks include assembly, welding, and drawing. One of the key issues in the planning and control of redundant manipulators is the problem of redundancy resolution, that is, how to determine the angle / velocity / acceleration of each joint of the manipulator through the given pose information of the end of the manipulator. At present, a variety of acceleration layer redundancy analysis schemes (that is, control schemes to solve the redundancy analysis problem) have been proposed and realized effective planning and control of the manipulator. However, these control schemes do not take into account t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1643B25J9/1651G05B2219/40367
Inventor 郭东生徐凤晏来成聂卓赟
Owner HUAQIAO UNIVERSITY
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