Cooperative control method for full-state constraint mechanical arm trajectory tracking

A collaborative control and trajectory tracking technology, applied in the field of control, can solve problems such as poor steady-state performance and low tracking accuracy

Active Publication Date: 2018-09-11
QUFU NORMAL UNIV
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Problems solved by technology

[0005] However, for the robot system, although the BLF-based backstepping control method takes into account the influence of the actual constraints on the system, it has problems such as low tracking accuracy and poor steady-state performance;

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  • Cooperative control method for full-state constraint mechanical arm trajectory tracking
  • Cooperative control method for full-state constraint mechanical arm trajectory tracking
  • Cooperative control method for full-state constraint mechanical arm trajectory tracking

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Embodiment Construction

[0087] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0088] Take a robotic arm with joint constraint number n=2 as an example, such as figure 1 As shown, the mechanical arm includes two links: a first link 1 , a second link 2 , and two constraint joints: a first joint 3 and a second joint 4 . The mass and length of the first connecting rod 1 are respectively m 1 , l 1 , the mass and length of the second connecting rod 2 are m 2 , l 2 ; The distance from the first joint 3 to the center of gravity of the first link 1 is l c1 , the distance from the second joint 4 to the center of gravity of the second link 2 is l c2 ; The moments of inertia of the first connecting rod 1 and the second connecting rod 2 are respectively J 1 、J 2 ;q 1 is the angular position of the first link 1, q 2 is the angular position of the second link 2. The counterclockwise direction is specified as the forward rotation direction o...

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Abstract

The invention relates to a cooperative control method for full-state constraint mechanical arm trajectory tracking, and belongs to the technical field of control engineering. The method combines ABLF-based thrust-reversing control with Hamilton energy theory-based control, and builds a cooperative controller: establishing a mechanical arm system dynamics equation of n-joint constraint, and performing coordinate transformation on the equation to obtain a state-space equation of the system; designing an ABLF-based thrust-reversing controller, so as to improve system initial response speed, and prevent constraint from being damaged at the same time; designing the Hamilton energy theory-based controller, so as to improve tracking stability of a later period of system response; and designing the cooperative controller to realize rapid and stable control of a full-state constraint mechanical arm system. ON the premise of not damaging a full-state constraint condition, the cooperative controlmethod provided by the invention can improve dynamic-state and steady-state performance of the system, ensure fast mechanical arm system response speed and high positioning precision, and can effectively improve working performance of the mechanical arm in a robot system.

Description

technical field [0001] The invention relates to a control method, in particular to a cooperative control method for trajectory tracking of a full-state constrained mechanical arm, which belongs to the technical field of control engineering. Background technique [0002] The mechanical arm used by the robot is a nonlinear system, and its state, such as position and speed, is limited by various constraints. Once these practical constraints are violated, the performance of the system will be seriously degraded, and even the system will be endangered. Therefore, it is necessary to consider constraints in practical systems. At present, the problem of constrained control of nonlinear systems has been widely concerned. The methods to solve this kind of problems mainly include backstepping control method based on barrier Lyapunov function (BLF) and control method based on Hamilton (Hamilton) energy theory. [0003] The backstepping control method based on BLF can design the Lyapun...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙炜伟蔡彬吴忧褚晓广
Owner QUFU NORMAL UNIV
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