Double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling

A dual manipulator, limited time technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor synchronous control performance and low parameter identification accuracy

Active Publication Date: 2018-10-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the shortcomings of low parameter identification accuracy and poor synchronous control performance of the existing dual manipulator system, the presen

Method used

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  • Double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling
  • Double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling
  • Double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling

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Embodiment Construction

[0072] The present invention will be further described below in conjunction with the accompanying drawings.

[0073] refer to Figure 1-Figure 7 , a method for finite-time parameter identification and position synchronization control of a dual-manipulator system based on mean value coupling, the control method comprising the following steps:

[0074] Step 1, establish a dynamic model of dual mechanical arms;

[0075] The dual-manipulator system consists of two single-manipulator arms, and each manipulator has two joints. Its model is expressed as follows:

[0076]

[0077] in are respectively the joint angle position vector, velocity vector and acceleration vector of the mechanical arm, M(q)=diag([M 1 (q) M 2 (q)]) is the positive definite inertia matrix of the manipulator, represents the centrifugal force and the Coriolis force matrix, is the gravity vector acting on the joint, Enter the torque vector for the joint control;

[0078] Step 2, define the tracking ...

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Abstract

The invention provides a double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling. The double-mechanical-arm system finitetime parameter identification and position synchronous control method comprises the following steps that 1, a double-mechanical-arm system model is established; 2, a double-mechanical-arm tracking error, a synchronous error and a mean value coupling error are defined; and 3, a self-adaption finite time parameter estimation rule and a controller are designed. The designed parameter identificationand synchronous control scheme has the good identification and control effect on a double-mechanical-arm system, so that the double-mechanical-arm system can achieve high-precision parameter identification and has the good tracking property and the good synchronous property.

Description

technical field [0001] The invention relates to an online self-adaptive limited time parameter identification and position synchronous control method of dual manipulators based on mean value coupling. Background technique [0002] The dual manipulator system is a control system composed of two single manipulators. Compared with the single manipulator system, the double manipulator system has higher reliability, greater flexibility and carrying capacity, and can complete more complex tasks at the same time. Task. Since the dual-manipulator system is easily affected by external disturbances, friction and other factors, high-precision control is relatively difficult. Therefore, how to improve the parameter identification and synchronous control performance of dual manipulators is a research hotspot in the existing industrial control. [0003] For control systems with unknown or unmeasurable parameters, adaptive parameter identification is a very effective method. At present,...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 高苗苗陈强南余荣陶亮
Owner ZHEJIANG UNIV OF TECH
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