Trajectory tracking control method of reconfigurable modular flexible manipulator based on multi-agent

Abstract

The trajectory tracking control method based on multi-agent reconfigurable modular flexible manipulator relates to the control field of reconfigurable modular flexible manipulator, which describes the dynamic model of reconfigurable modular flexible manipulator as a cross-linked joint agent A collection of systems to realize the modeling of a single-joint intelligent body flexible manipulator system; using the idea of ​​redefining the output, the linear combination of the joint motor rotation angle and the flexible modal variable is used as the output of the flexible manipulator system, and through input and output linearization, The single-joint flexible manipulator system is decomposed into two parts, the input-output subsystem and the zero-dynamic subsystem. The invention approximates the linearization of the zero dynamic subsystem at the balance point, and makes the zero dynamic subsystem of the flexible manipulator system asymptotically stable near the balance point by rationally selecting and redefining the design parameters of the system output, thereby ensuring the stability of the entire flexible manipulator system Asymptotically stable, in order to meet the tracking requirements of the robotic arm subsystem on the desired trajectory.

Description

technical field [0001] The invention relates to the control field of reconfigurable modular flexible manipulators, in particular to a trajectory tracking control method for reconfigurable modular flexible manipulators based on multi-agents. Background technique [0002] Modular reconfigurable manipulators with the characteristics of high flexibility, short design cycle, high reliability, low cost and easy maintenance have been widely researched and applied in laboratory research, aerospace, nuclear industry, military and other fields. The reconfigurable modular manipulator has standard interfaces and modules, and can recombine and configure its own configuration according to different task requirements without redesigning the controller. In addition, the joints of the reconfigurable modular manipulator also include communication, drive, control, transmission and other units, so that the reconfigured manipulator has better adaptability to the new working environment. Therefo...

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Problems solved by technology

[0005] Aiming at the problems that the reconfigurable modular flexible manipulator increases the flexibility effect of the joints and connecting rods during the movement process, the structure is deformed, the accuracy of task execution is reduced, and the reusability is low. A reconfigurable modular flexible manipulator trajectory tracking control method, the method regards the single-joint subsystem of the flexible manipulator as an agent, first designs the single-joint intelligent body controller of the flexible manipulator, and then controls multiple joints according to different working conditions Carry out serial reorganization to meet the needs of different application fields, which is convenient and fast, with high trajectory tracking accuracy and no need to redesign the controller; this method realizes the reconfigurable flexible manipulator to gradually track the desired trajectory, and the tracking error is convergent and bounded

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