A control method for moment layer repetitive motion of redundant manipulator

Abstract

A repetitive motion control method for the moment layer of a redundant manipulator, which designs the repetitive motion performance index of the moment layer; based on the repetitive motion performance index that needs to be optimized, establishes a repetitive motion control scheme for the moment layer, which is constrained by the Jacobian of the moment Matrix equation, joint angle limit, joint speed limit and joint torque limit; convert the repetitive motion control scheme of the moment layer into a standard quadratic programming problem, and solve it through the numerical algorithm solver; the lower computer controller according to the solution The results drive the action of the robotic arm to complete the given end task and achieve the purpose of repetitive motion. The control scheme designed based on the dynamic equation of the present invention is to directly complete the control of the mechanical arm on the moment layer, so that the mechanical arm can achieve the purpose of repetitive motion while completing a given terminal task.

Description

technical field [0001] The invention relates to the field of motion planning and control of redundant manipulators, in particular to a method for controlling repetitive motion of redundant manipulators at moment level. Background technique [0002] Redundant manipulator is a mechanical device with more degrees of freedom than required to perform end tasks; it has been widely used in national economic production activities, such as welding assembly, equipment manufacturing and product processing. A problem that easily exists in the motion planning and control of redundant manipulators is the problem of joint angle deviation: when the motion trajectory of the end effector of the manipulator is closed, after completing a given planning task, the joint angle variable of the manipulator The trajectory in its motion space is not closed. In short, closed end-effector trajectories did not generate closed joint-space trajectories. [0003] At present, in order to solve the problem ...

AI Technical Summary

Problems solved by technology

A problem that easily exists in the motion planning and control of redundant manipulators is the problem of joint angle deviation: when the motion trajectory of the end effector of the manipulator is closed, after completing a given planning task, the joint angle variable of the manipulator The trajectory in its motion space is not closed

However, these control schemes are researched and designed without considering the dynamics of the manipulator. They cannot deal with the joint torque limit of the manipulator, nor can they be directly applied to the manipulator related to force control, so the scope of application is extremely limited. big limit

More importantly, due to the lack of consideration of external force factors, when these control schemes are actually applied, once the manipulator is disturbed, they will easily fail, resulting in the inability of the manipulator to complete the given terminal task.

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