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Multi-mechanical-arm system synchronous control method based on composite integral sliding mode

An integral sliding mode and synchronous control technology, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of poor synchronization performance and low precision

Active Publication Date: 2018-08-17
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the disadvantages of low precision and poor synchronization performance of existing multi-manipulator systems, the present invention proposes a multi-manipulator system synchronization control method based on composite integral sliding mode

Method used

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Embodiment Construction

[0069] The present invention will be further described below with reference to the accompanying drawings.

[0070] refer to Figure 1-Figure 4 , a multi-manipulator system synchronization control method based on composite integral sliding mode, the control method comprises the following steps:

[0071] Step 1, build a multi-manipulator system model, the process is as follows:

[0072] 1.1, Multi-mechanical system arm model

[0073] The multi-manipulator system includes 4 single manipulators, and the physical parameters of each single manipulator are the same. The model is expressed in the following form

[0074]

[0075] in,

[0076]

[0077]

[0078]

[0079] M 21 =M 12

[0080]

[0081]

[0082] c=m 2 l 1 l 2 sin(q 2 )

[0083] G=[G 1 G 2 ] T

[0084] G 1 =(m 1 +m 2 )gl 1 cos(q 2 )+m 2 gl 2 cos(q 1 +q 2 )

[0085] G 2 =m 2 gl 2 cos(q 1 +q 2 )

[0086]

[0087]

[0088] Among them, M is the inertia matrix of the manipula...

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Abstract

The invention provides a multi-mechanical-arm system synchronous control method based on a composite integral sliding mode. The method comprises the following steps of 1, establishing a multi-mechanical-arm system model; 2, defining a tracking error, a synchronous error and a coupling error of a multi-mechanical-arm system; and 3, designing a composite integral sliding mode controller. By means ofthe cross coupling synchronous control method, the synchronous performance of the interiors of mechanical arms is improved; the steady-state error of the system is effectively reduced by means of thecomposite integral sliding mode; meanwhile, the upper bound of the uncertainty is estimated through a self-adaption method and is compensated for, and the robustness of the system is improved.

Description

technical field [0001] The invention relates to a synchronous control method for a multi-manipulator system based on a composite integral sliding mode. Especially the sliding mode control method of multi-manipulator system with inaccurate system modeling, parameter uncertainty and external disturbance. Background technique [0002] The multi-manipulator system is a control system composed of multiple single manipulators, and is widely used in various fields such as industrial manufacturing, transportation, and aerospace. Compared with the single-arm system, the multi-arm system has many advantages: first, the multi-arm system outputs a larger torque and can lift heavier objects; second, the multi-arm system has a larger working space and flexibility, Ability to complete more and more complex tasks. [0003] If the previous single-manipulator control algorithm is applied to a multi-manipulator system, it will inevitably lead to poor synchronization performance of the system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1682
Inventor 陈强骆一堃南余荣
Owner ZHEJIANG UNIV OF TECH
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