Control method of semiflexible mechanical arm system

Abstract

The invention discloses a control method of a semiflexible mechanical arm system. The semiflexible mechanical arm system consists of a rigid mechanical arm and an additional flexible connecting rod, wherein the rigid mechanical arm consists of a series of rigid connecting rods and joints; each joint is a rotating joint or a moving joint. The method comprises the following steps that the rigid mechanical arm is totally provided with (n+1) rigid connecting rods; the additional flexible connecting rod is R; a fixed connection coordinate system of the (n+1) rigid connecting rods is built and obtained by an improved DH parameter method via the rigid mechanical arm; the connecting rod parameters of the (n+1) rigid connecting rods are obtained through calculation; the length of the flexible connecting rod R in the flexible connecting rod parameters is regarded as a variable value, and other parameters are invariable; a coordinate system transformation formula of the adjacent connecting rods between the rigid connecting rods and the flexible connecting rod R is determined according to the connecting rod parameters; then, the relationship between the joint moment, and the joint angle, the joint speed and the joint acceleration speed is built to serve as a kinetic equation; the semiflexible mechanical arm system is controlled according to a set control method in accordance with the kinetic equation.

Description

Technical field [0001] The invention belongs to the field of robot control, and mainly relates to a control method of a semi-flexible mechanical arm system. Background technique [0002] With the advent of the first industrial robot in the 1960s, the application of robots has gradually penetrated into various fields such as aerospace, medical, military, and even daily life, entertainment and education. At first, manufacturing robots used it as an automated device to serve the manufacturing industry. With the increasing maturity of theory and technology, people have put forward higher and higher requirements for robots, and more and more occasions require robots or robotic arms to serve us. [0003] The robot arm is the main actuator of the robot. Adding robotic arms to popular unmanned vehicles can assist or help humans complete many tasks, such as automatic refueling and automatic obstacle clearance. Generally, the working space of a robotic arm may not be able to meet the comp...

AI Technical Summary

Problems solved by technology

However, these methods are characterized by combining elastic mechanics, establishing a series of partial differential equations to describe the elastic deformation, and then establishing the dynamic model of the flexible manipulator according to the Lagrangian or Newton-Eulerian method. The modeling and control process is very complicated. For a semi-flexible robot arm, its main body is rigid. It is unnecessary and cannot meet the actual needs to use such complex modeling and control for only one of the flexible links.

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