Reconfigurable mechanical arm guaranteed cost decentralized control method based on self-adaption dynamic programming

Abstract

The invention relates to a reconfigurable mechanical arm guaranteed cost decentralized control method based on self-adaption dynamic programming, and belongs to the field of robot control systems andcontrol algorithms. In order to the solve the problems that according to a traditional reconfigurable mechanical arm control method, joint coupling crosslinking items disturb system integral control,energy consumption is generated in the reconfiguration and control process of reconfigurable mechanical arms, and the uncertainty permissible range exists in the motor actual working process, the method constructs a kinetic model of a reconfigurable mechanical arm subsystem, coupling crosslinking items of all joints are singly shown through a reconfigurable mechanical arm inertia item, a coriolisforce and centrifugal force item and a gravity item, and a performance index function and an HJB equation are constructed; the HJB equation is solved through a method based on ADP policy iteration, coupling crosslinking uncertainty items among the joints are compensated through a neural network, and finally the validity of the algorithm is verified through numerical simulation of different-configuration two-freedom-degree mechanical arms; and high-accuracy control over the reconfigurable mechanical arms is achieved.

Description

technical field [0001] The invention relates to an optimal cost-guaranteed decentralized control method for a reconfigurable mechanical arm based on adaptive dynamic programming, and belongs to the field of robot control systems and control algorithms. Background technique [0002] Compared with the traditional type of manipulator, the reconfigurable manipulator is a new type of manipulator that can be recombined and configured according to different task requirements, and has standard modules and interfaces. Each module can perform work more effectively and purposefully according to the given task requirements alone or in cooperative combination, and has a high degree of automatic assembly, flexibility and environmental adaptability. Based on the requirements of high openness and easy portability in modern manufacturing, reconfigurable robotic arms have wide application potential in industrial production, exploration and exploration, precision manufacturing, national defens...

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Problems solved by technology

[0006] The present invention aims to solve the interference of the cross-linking item of the joint coupling in the traditional reconfigurable manipulator control method on the overall control of the system, the energy consumption problem in the reconfiguration and control process of the reconfigurable manipulator, and the uncertainty allowance in the actual working process of the motor. range problem, an optimal cost-guaranteed decentralized control method for a reconfigurable manipulator based on adaptive dynamic programming is proposed

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