Position control method of single-joint flexible manipulator based on state feedback

Abstract

The invention discloses a position control method of a single-joint flexible manipulator based on state feedback. Firstly the time variation effect of SEA load movement on a motor end kinetic model is considered, the load moment acts as disturbance to be fed back to the motor end through a speed reducer and modeling of the motor and the SEA overall system is performed in comparison with the method of separately establishing a motor model and an SEA module; then the state space and the root locus are combined, and a SEA single-joint position controller design method based on state feedback is given so that coordinated optimization of stable, fast, static difference and parameter insensitive performance of the control system can be visually performed; and finally the situation that the full-state feedback method cannot meet the current requirements is considered, and the SEA single-joint position controller design method based on combination of state feedback and PI is put forward to perform PI control on the current, and state feedback control is still performed on other variables so as to achieve a great control effect.

Description

technical field [0001] The invention relates to the field of robots, in particular to a position control method of a single-joint flexible mechanical arm based on state feedback. Background technique [0002] With the continuous development of robot technology, an environment of collaboration with humans and the coexistence of humans and machines has emerged as the times require. There are many differences between human-computer coexistence and the traditional robot working environment. The biggest difference is that the human-computer interaction operation has uncertainty and the human-computer interaction environment is dynamically changing. The mechanical body of traditional industrial robots is generally based on a rigid structure. This is to ensure high-speed and high-precision performance, but it also leads to very high stiffness at the end, which will cause uncertainty in a human-machine coexistence environment. During operation, if there is an operation error, the s...

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Problems solved by technology

[0005] However, the addition of SEA elastic elements will change the structure of the entire control system, so the difficulty of corresponding control algorithm design will also increase, and it is necessary to ensure the accuracy and safety of its execution through control algorithms such as torque control, speed control and position control.

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