Synchronous motion control device and method for double-flexible robot

Abstract

The invention discloses a synchronous motion control device and method for a double-flexible robot. The synchronous motion control device comprises a mechanical body part, a detection and drive part and a control part; the mechanical body part is composed of a first flexible body and a second flexible body; the detection and drive part comprises a piezoelectric sensor and a piezoelectric driver; the control part is used for processing a received detection signal and outputting a control signal to perform vibration control on four flexible arms. By means of the synchronous motion control deviceand method, vibration control over the flexible arms of which the vibration quantity cannot be directly measured is realized, and the control effects on the synchronous motion of every two flexible arms can be compared.

Description

technical field [0001] The invention relates to the field of flexible robots, in particular to a synchronous motion control device and method for dual flexible robots. Background technique [0002] With the development of science and technology, robot technology continues to develop in the direction of light weight, high speed and high precision. Especially since entering the 21st century, human exploration of space has continued to deepen. As well as the safety of astronauts themselves, when performing complex space exploration and operation tasks, it is very necessary to use a mechanical arm structure that combines aviation technology and robotics technology to replace astronauts to complete these tasks. Therefore, the research on the structural design and vibration control technology of the manipulator has become an important research direction in the field of robotics and aerospace. [0003] In order to avoid positioning errors and mechanical vibrations in traditional i...

AI Technical Summary

Problems solved by technology

Starting from the single-degree-of-freedom flexible manipulator, the research on flexible manipulators began in the 1980s. As the tasks performed by the manipulator became more and more complex, the single-degree-of-freedom flexible manipulator could not meet the needs of use, and the two-degree-of-freedom Research on flexible manipulators has followed, the most famous of which is the Canadian Arm II (SSRMS-2) designed by the Canadian Aviation Agency for the International Space Station. Compared with traditional rigid manipulators, flexible manipulators have light weight and high response. Speed, high load / self-weight ratio, etc., but at the same time due to its low stiffness and large disturbance, when receiving external excitation, the two-degree-of-freedom flexible manipulator is easy to produce its own low-frequency, large-scale elastic vibration, As a result, there are also some problems in its use. Taking the first stage of assembly of the space station as an example, the space flexible manipulator system needs to work for about 47 hours, but about 20% to 30% of its time is spent waiting for itself. The attenuation of residual vibration, and at the same time, in order to avoid large elastic vibrations during the movement of the manipulator, the deployment process of the manipulator also takes a long time. These problems are obviously inconsistent with the high-speed and high-precision work requirements of the flexible manipulator, which affects the manipulator. The positioning accuracy of the work, elastic vibration will cause premature fatigue damage to the structure, and may cause system resonance to cause system damage and failure, so how to correctly analyze the dynamic characteristics and driving characteristics of the two-degree-of-freedom flexible manipulator The suppression of elastic vibration is particularly important

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