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Target tracking control method for flexible mechanical arm based on reachable set estimation

A flexible manipulator and target tracking technology, applied in the field of robotics, can solve problems such as unstable system operation and difficult positioning of the end of the manipulator

Active Publication Date: 2019-01-18
MINJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the control method of the transmission ignores the flexibility of the arm transmission, which will cause difficulties in positioning the end of the mechanical arm, and easily lead to unstable operation of the system.

Method used

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  • Target tracking control method for flexible mechanical arm based on reachable set estimation
  • Target tracking control method for flexible mechanical arm based on reachable set estimation
  • Target tracking control method for flexible mechanical arm based on reachable set estimation

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Embodiment Construction

[0071] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0072] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0073] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a target tracking control method for a flexible mechanical arm based on reachable set estimation. The method comprises the steps that firstly, a human-simulation mechanical arm flexible motion system is established, and a neutral II-type T-S fuzzy method is used for establishing a non-linear dynamic system of the flexible human-simulation mechanical arm; in consideration that a fuzzy subordinating degree function of a neutral II-type T-S fuzzy system is difficult to accurately obtain, middle values of the upper and lower boundaries of the fuzzy subordinating degree function of a fuzzy system are taken as a controller fuzzy subordinating degree function; based on a reachable set estimation method, a neutral II-type T-S fuzzy controller is designed so that a target tracking error of the human-simulation mechanical arm can be controlled within an allowable error range. According to the target tracking control method for the flexible mechanical arm based on reachable set estimation, the neutral II-type T-S fuzzy controller designed in the method can control the target tracking error of the human-simulation mechanical arm within the allowable range, and the method has wide market prospects.

Description

technical field [0001] The invention relates to the field of robots, in particular to a target tracking control method of a flexible manipulator based on reachable set estimation. Background technique [0002] Robots can replace or assist humans in various difficult or dangerous tasks, so their research and development is very important. The humanoid robotic arm is the key to robot grasping, and has extremely high requirements for the positioning and stable work of its end. However, the transmission control method ignores the flexibility of the arm transmission, which will lead to difficulties in the positioning of the end of the mechanical arm, and will easily lead to unstable operation of the system. Contents of the invention [0003] In view of this, the object of the present invention is to propose a target tracking control method for the flexible manipulator based on reachable set estimation, so that the target tracking error of the humanoid manipulator can be contro...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612
Inventor 钟智雄林文忠
Owner MINJIANG UNIV
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