Data-driven mechanical arm repetitive motion control method and device

Abstract

The invention provides a data-driven mechanical arm repetitive motion control method and device. A whole system adopts an estimated Jacobian matrix of a mechanical arm with an unknown model to assistin calculation. The method comprises the following steps: (1) acquiring speed information and joint angular velocity information of a redundant mechanical arm; (2) obtaining the estimated Jacobian matrix according to the speed information and the joint angular velocity information; (3) designing a quadratic repetitive motion performance index by using the estimated Jacobian matrix to generate a quadratic optimal redundancy analysis scheme; (4) converting the mechanical arm repeated motion secondary planning scheme into a standard secondary planning form; (5) conducting solving with a quadraticprogramming solver to determine a control signal of the redundant mechanical arm; and (6) transmitting the control signal to a lower computer controller to drive the mechanical arm to move. The reliable model information estimation method and the repetitive motion control method are provided for the mechanical arm with the unknown model, and high control precision is maintained while the mechanical arm is controlled.

Description

technical field [0001] The invention relates to the field of motion planning and control of a redundant manipulator, in particular to an inverse kinematics solution method of a redundant manipulator. Background technique [0002] The redundant manipulator has the characteristics that the degree of freedom is greater than the minimum degree of freedom required by the task space, and is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. The inverse kinematics problem of the redundant manipulator refers to the problem of determining the joint angle of the redundant manipulator when the position of the end of the redundant manipulator is known. When the end task of the redundant manipulator is a closed curve, even if the end effector returns to the initial position, each of its joints may deviate from the initial state. This phenomenon is called joint angle deviation, or non-repetitive motion proble...

AI Technical Summary

Problems solved by technology

In industrial production, there will be situations where the load of the manipulator is unknown or the structure of the manipulator is unknown. At this time, the existing control methods cannot make the manipulator complete the given task accurately, resulting in task failure or damage to the manipulator.

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