A dynamic compensation method and system for space trajectory tracking of a manipulator

Abstract

An embodiment of the present application provides a dynamic compensation method and system for tracking a manipulator's space trajectory, wherein the method steps include: S1, according to the desired pose matrix T at the end of the manipulator 1 and the current pose matrix T at the end of the manipulator 0 , calculate the pose error δ at the end of the manipulator; S2, use the Jacobian matrix J(q), the pose error δ and the current joint angle q under the current end pose of the manipulator to calculate the joint target angle q*; S3, according to the current Jacobian matrix J(q) under the end pose of the manipulator and the expected speed v* at the end of the manipulator, calculate the joint target angular velocity S4, add the joint target angular velocity and the output of the joint position controller to obtain the joint speed command, and drive The joints of the mechanical arm move. This scheme has low computational complexity and occupies less resources; it does not need to consider complex dynamic models, is simple and practical, and is easy to implement; through the space velocity output by the terminal trajectory planning, the target velocity of each joint is directly obtained as the feedforward value, without lag, and real-time Good sex.

Description

technical field [0001] The present application relates to the field of space trajectory tracking compensation of a manipulator, in particular to a dynamic compensation method and system for space trajectory tracking of a six-degree-of-freedom manipulator. Background technique [0002] Manipulators, especially six-degree-of-freedom manipulators, have been widely used in industrial production. Manipulator control technology is an important part of the manipulator system, which determines the performance of the manipulator. With the rapid development of modern industry, the manipulator Higher requirements are put forward for the accuracy, stability and rapidity. [0003] Space trajectory tracking of the manipulator is to realize the movement of the end effector along a given continuous trajectory, and the entire movement trajectory needs to be strictly controlled, and the tracking accuracy of the space trajectory of the manipulator is an important indicator of its control perfo...

AI Technical Summary

Problems solved by technology

In the prior art, two methods are generally adopted for the space trajectory tracking control of the manipulator: the first method is to directly obtain the target speed from the difference of the joint target angle in the joint control, and feed it to the joint speed controller as the speed feedforward for dynamic control. Compensation, this method is simple to implement but has hysteresis characteristics; the second method is to control according to the dynamic model of the manipulator, but the dynamic model of the six-degree-of-freedom manipulator is complex, and it is difficult to obtain an accurate dynamic model, resulting in control Unsatisfactory effect

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