Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Multiple dual-connecting-rod mechanical arm inclusion controller based on output positions and design method

A technology of double linkages and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as computational complexity explosion, achieve the effect of simplifying complex derivation operations and overcoming computational complexity explosion

Active Publication Date: 2018-04-06
NANJING UNIV OF POSTS & TELECOMM
View PDF8 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Further, the computational complexity explosion problem is overcome by estimating the derivative of the virtual control law in the sub-controller by means of a tracking differentiator

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multiple dual-connecting-rod mechanical arm inclusion controller based on output positions and design method
  • Multiple dual-connecting-rod mechanical arm inclusion controller based on output positions and design method
  • Multiple dual-connecting-rod mechanical arm inclusion controller based on output positions and design method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0166] The state equation of the i-th double-link manipulator system in the follower selected by the present invention:

[0167]

[0168] In the formula, y i,1 、y i,2 Joint angular position output for the i-th follower joint 1 and joint 2, u i,1 , u i,2 The control law input for the ith follower joint 1 and joint 2, W i,11 =a 1 +2a 2 cos(y i,1 )+2a 4 sin(y i,2 ), I1 is the viscous friction coefficient of joint 1 turning to 0.12, I 2 is the viscous friction coefficient of joint 2 to 0.25, m 1 is the mass of rod 1 is 1kg, m 2 Is the mass of rod 2 is 2kg, I c2 is the distance from joint 2 to bar 2 centroid is 0.6m, a 4 =m 2 l 1 l c2 sin(δ), l 1 is the length of rod 1 is 1m, I c1 is the distance from joint 1 to the center of mass of rod 1 is 0.5m, and δ is the angle between the initial joint 2 and the longitudinal axis, which is π / 6rad. The initial values ​​of the four follower system states are:

[0169] The outputs of the three leaders are: y 5,d =...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multiple dual-connecting-rod mechanical arm inclusion controller based on output positions and a design method. N dual-connecting-rod mechanical arms in an unknown dynamic state are regarded as followers, and a networking system which is formed by connecting the N dual-connecting-rod mechanical arms with M leaders through a one-way topological graph serves as a controlledobject. The leaders constitute a static convex hull, and the inclusion controller is designed through the positions output by joints 1 and joints 2 of all the followers, so that output of the followers is converged into the static convex hull. Compared with the prior art, the multiple dual-connecting-rod mechanical arm inclusion controller and the design method have the beneficial effects that extension state observers are designed in all sub controllers through input and output of the followers to reconstitute the system state of the dual-connecting-rod mechanical arms, and through estimation of the extension state quantity, the unknown dynamic state is real-timely compensated, so that the designed output-feedback inclusion controller has disturbance resistance; and the problem of computational complexity explosion is solved, and the unknown dynamic state in the system can be effectively treated, and the complex differential operation is simplified.

Description

technical field [0001] The invention belongs to the technical field of industrial process control, and in particular relates to a controller and a design method for a multi-double link mechanical arm based on an output position. Background technique [0002] In recent years, the coordinated control of multi-manipulator systems is a research hotspot in the field of robotics today. Compared with a single manipulator system, a multi-manipulator system has greater flexibility, higher reliability, and can complete more complex tasks. The master / slave control coordination method of the multi-manipulator system proposed by Kosuge, Ahmad et al. is the earliest control scheme, and it is also the most simple and effective coordination strategy currently used in the field of industrial manipulators. This method only needs to designate a certain robot arm in the coordination system as the "leader", and the rest of the robot arms tracking the relative pose of the leader are called "foll...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/161
Inventor 杨杨谈杰岳东徐闯缪松涛
Owner NANJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com