Constraining force robust servo control method and device for under-actuated flexible mechanical arm system

A flexible robotic arm and servo control technology, applied in the field of servo control, can solve problems such as difficult to accurately describe the binding force

Active Publication Date: 2019-01-04
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is difficult to give a precise description of the binding

Method used

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  • Constraining force robust servo control method and device for under-actuated flexible mechanical arm system
  • Constraining force robust servo control method and device for under-actuated flexible mechanical arm system
  • Constraining force robust servo control method and device for under-actuated flexible mechanical arm system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0101] A constraint robust servo control method for an underactuated flexible manipulator system, comprising the following steps:

[0102] Step (1), provide the dynamic equation of the underactuated flexible manipulator system with constraints:

[0103]

[0104] Wherein, M represents the inertia matrix of the mechanical arm of the underactuated flexible mechanical arm system, C represents the centrifugal force of the mechanical arm, G represents the gravity of the mechanical arm, K represents the elastic coefficient of the mechanical arm, and q 1 Represents the link angle vector of the manipulator; q 2 represents the joint angle vector of the manipulator, for q 1 The first-order derivative of , for q 1 The second-order derivative of , J represents the diagonal matrix of the actuator inertia of the manipulator; u represents the input force of the motor of the manipulator, for q 2 The second-order derivation of ;

[0105] Step (2), introduce dummy control variable u...

Embodiment 2

[0145] Depending on the given mechanical system:

[0146]

[0147] M represents the inertia matrix of the mechanical arm of the underactuated flexible mechanical arm system, C represents the centrifugal force of the mechanical arm, g represents the gravity of the mechanical arm, K represents the elastic coefficient of the mechanical arm, and q 1 Represents the link angle vector of the manipulator; q 2 represents the joint angle vector of the manipulator, for q 1 The first-order derivative of , for q 1 The second order derivation of, J represents the diagonal matrix of the actuator inertia of described mechanical arm; U represents the input force of the motor of described mechanical arm, for q 2 The second-order derivative of .

[0148] Constraints on the system are of the following form:

[0149]

[0150] yes The i-th element of .A li ( ) and c l ( ) belong to C 1 ,m≤n. They are first-order form constraints. These constraints may not be integrable and ...

Embodiment 3

[0255] This embodiment provides a constraint robust servo control device for an underactuated flexible manipulator system corresponding to Embodiment 1. The binding force robust servo control device includes a calculation module 1, a calculation module 2, a calculation module 3, a selection module 1, and a selection module 2.

[0256] Calculation module one is used to select a P for a given A, and for Calculate lambda A , where A represents the constraint condition matrix of the underactuated flexible manipulator system, the dimension is m×n, P is an arbitrary n×n positive definite matrix, λ A is the intermediate parameter of the design process, M represents the inertia matrix of the manipulator of the underactuated flexible manipulator system, and K represents the elastic coefficient of the manipulator.

[0257] Calculation module two is used for choose| 1 , get p according to formula (4.5) and formula (4.6) 11 ,p 12 , where γ 1 for the corresponding p 12 The posi...

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Abstract

The invention discloses a constraining force robust servo control method and device for an under-actuated flexible mechanical arm system. Under the basic framework of Udwadia and Kalaba, the constraining force robust servo control method obtains a constraining force closed-loop form which can be applied to the design of the control device, which is feasible for servo constraint; in addition, a virtual control is nested to divide the whole system into two subsystems, then through an analogous Udwadia-Kalaba control part control method and a robust control part control method, so that the angleof a connecting rod approximately follows a given constraint, meanwhile, the consistent boundary performance of the control device and the consistent final boundary performance of the whole control device are ensured.

Description

technical field [0001] The present invention relates to the field of servo control methods, in particular to a servo constraint force control method for a manipulator system, in particular to a constraint force robust servo control method for an underactuated flexible manipulator system, and a constraint force robust servo control method corresponding to the method. Rod servo control device, computer terminal and computer readable storage medium employing the method. Background technique [0002] Flexible joint manipulators are widely used in the industrial field. As a powerful assistant, the manipulator can quickly and accurately undertake a series of tasks for us, such as positioning and trajectory tracking. In practical situations, the manipulator structure is required to obey certain constraints. The so-called constraints are mainly divided into two categories: passive constraints and servo constraints. [0003] For passive restraints, the surrounding environment can c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1635B25J9/1653
Inventor 董方方赵晓敏
Owner HEFEI UNIV OF TECH
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