Finite time convergence motion control method for parallel mechanical arm capable of resisting external disturbance

Abstract

The invention provides a finite time convergence motion control method for a parallel mechanical arm capable of resisting external disturbance. The method comprises the following steps: according to the difference of the real-time position, in a three-dimensional space, of an actuator on a motion platform of the parallel mechanical arm and a predefined expected path, defining an error function andan intermediate variable for tracking control, and designing an error dynamic equation for resisting external disturbance; in combined with a real-time tracking control task of the parallel mechanical arm, solving a kinematic relational expression, on a leg speed layer, of the parallel mechanical arm; substituting the error dynamic equation to obtain a control signal dynamic equation for real-time tracking control of the parallel mechanical arm; figuring out a real-time leg update control signal of the parallel mechanical arm, wherein an obtained result drives the parallel mechanical arm to carry out tracking control operation, a generated position error can be convergent in finite time while the actuator on the mobile platform realizes tracking control, and the resistance of the parallelmechanical arm to external disturbance is realized effectively.

Description

technical field [0001] The invention relates to the field of mechanical arm motion and robust control, in particular to a limited-time convergent motion control method for parallel mechanical arms that can resist external disturbances. Background technique [0002] Parallel manipulators are usually connected by a mobile platform and a fixed base through at least two or more independent moving legs. Parallel manipulators generally have two or more degrees of freedom and are driven in parallel. A closed-loop control System mechanics. Parallel robotic arms usually have the advantages of no cumulative error, high motion control accuracy, good dynamic response, compact structure, high rigidity, strong load capacity, etc., and can replace human arms to complete high-precision operations, so they are widely used in industry in manufacturing, aerospace and even military equipment. After years of development, the research on real-time motion control of parallel manipulators has mad...

AI Technical Summary

Problems solved by technology

In the past, the traditional parallel manipulator tracking control method was usually unable to effectively resist external disturbances, and the solution error could not converge within a limited time.

The above-mentioned problems have become the "bottleneck" problem of real-time motion control of parallel manipulators, which often leads to low-precision tracking results for a long time when the actuators of parallel manipulators are performing tracking control operations, and even external interference may cause tracking failure of the control task

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