Flexible mechanical arm experiment system and control method

A flexible robotic arm and experimental system technology, applied in the field of online monitoring motion control, can solve the problems of single experimental system, staying at the theoretical level, and unsatisfactory control algorithm experimental verification, and achieve poor applicability, convenient data analysis and post-processing Effect

Inactive Publication Date: 2018-10-26
CHINA UNIV OF MINING & TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, most of these methods stay at the theoretical level and have not been verified by experiments, or the experimental system is relatively simple, and the experimental verification of various control algorithms for the vibration control of flexible manipulators cannot meet the requirements.

Method used

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  • Flexible mechanical arm experiment system and control method
  • Flexible mechanical arm experiment system and control method
  • Flexible mechanical arm experiment system and control method

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Experimental program
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Embodiment Construction

[0027] The present invention will be further described below in conjunction with accompanying drawing.

[0028] Such as figure 1 As shown, a flexible manipulator experimental system includes a main controller unit 2, and the main controller unit 2 is connected with: used to execute the control algorithm, implement and display the vibration signal of the flexible manipulator and modify the variable parameters of the control algorithm online The upper computer 1; the controlled body 3 of the flexible manipulator used to provide a power source for the flexible manipulator to be monitored; the vibration signal acquisition module 4 used to detect the vibration of the flexible manipulator and feed it back to the main controller unit.

[0029] Further, the controlled subject 3 of the flexible mechanical arm includes a flexible mechanical arm 34, and the flexible mechanical arm 34 is connected with a servo motor 31 that provides a driving force; the servo motor 31 is connected with: u...

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Abstract

The invention discloses a flexible mechanical arm experiment system and a control method. The system comprises a main controller unit, a host, a flexible mechanical arm controlled main body and a vibration signal acquisition module. According to the invention, the operation is simple; effects are obvious; by combining computer simulation and real-time control, suitability and practicability of design of the control system can be effectively verified; the vibration signals are displayed graphically, and parameters in the algorithm can be modified and controlled online; signals of the flexible mechanical arm can be measured online and the system has anti-interference ability and a self-protection function; all signals acquired by the main controller can be uploaded and stored in a local disk, so it is convenient for an experimenter to carry out data analysis and post processing on the experiment results; and problems of poor suitability and complex operation of the flexible mechanical arm experiment system are solved.

Description

technical field [0001] The invention relates to a vibration control and motion control system of a flexible manipulator, which belongs to the field of online monitoring motion control, in particular to a flexible manipulator experiment system and a control method. Background technique [0002] Robotic arms are generally divided into rigid robotic arms and flexible robotic arms. The rigid manipulator arm has relatively high stiffness and small joint deformation, so it is assumed to be a rigid body without deformation during theoretical modeling. However, the rigid manipulator has a large weight and a relatively low load quality, which is difficult to meet high-speed and heavy-load applications. The use of flexible robotic arms has the advantages of light weight, low energy consumption, and high efficiency, so it is widely used in military, aerospace, manufacturing, and medical fields. However, due to the slender structure and light weight of the flexible manipulator arm, it...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02G05B2219/23054
Inventor 周林娜赵建国汪芸陈黎明王众刘金浩杨春雨
Owner CHINA UNIV OF MINING & TECH
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