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Mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic

A control method and time-delay estimation technology, applied in the field of trajectory tracking control of the manipulator, can solve the problems of slow adaptive algorithm and inability to adapt to the working conditions of the manipulator with rapidly changing external disturbance torque, so as to improve the operation performance, track well, The effect of fast response speed

Active Publication Date: 2019-08-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, when the manipulator is subject to external disturbances or the working conditions of the manipulator change rapidly, the adaptive algorithm is relatively slow and cannot adapt to the rapid changes in external disturbance torque and the working conditions of the manipulator.

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  • Mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic
  • Mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic
  • Mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic

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Embodiment Construction

[0036] Further illustrate the present invention below in conjunction with accompanying drawing, the following examples are only used to describe the present invention and are not intended to limit the scope of use of the present invention, and various equivalent transformations of the present invention by engineers and technicians in various fields are all included in the scope of rights required by the present invention Inside. The specific implementation steps are as follows:

[0037] The invention discloses a time-delay estimation-based trajectory tracking control method of a manipulator, which is used to control an n-degree-of-freedom serial manipulator, where n is a positive integer. The control method includes the following steps:

[0038] (1) Establish the dynamic equation of the n-degree-of-freedom manipulator:

[0039]

[0040] In the formula, is the position vector of the robot joint, is the first derivative of the position vector of the robot joint with resp...

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Abstract

The invention discloses a mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic. According to the method, the self-adaptive time delay estimation technologyis combined with a sliding mode control algorithm, and the fuzzy logic is adopted to design the self-adaptive algorithm of the time delay estimation. The time delay estimation technology can effectively estimate unknown dynamic characteristics and external interference of a system and compensate for the unknown dynamic characteristics and the external interference, so that a controller is capableof good control effect while not depending on a dynamic model of a controlled object. Compared with an existing self-adaptive algorithm, the self-adaptive algorithm adopting the fuzzy logic design hasfaster self-adaptive speed, and can track the change of the working condition of the mechanical arm and the change of the external interference more quickly, and therefore the control effect and theworking performance of the mechanical arm are improved.

Description

technical field [0001] The invention belongs to the technical field of robot system control, in particular to a trajectory tracking control method for a type of mechanical arm. Background technique [0002] The robotic arm is of great significance for improving the degree of production automation and improving the level of the national manufacturing industry. At present, the robotic arm is widely used in various fields such as production, scientific research, and service, and plays an important role. The manipulator is a multi-rigid body system, and its dynamic characteristics are relatively complex, and there are often certain errors in the processing and manufacturing of the manipulator, so the control method based on the dynamic model is difficult to apply in production practice. The control method not based on the dynamic model needs to overcome all the dynamic characteristics and external interference of the robot, and it is difficult to achieve relatively high control ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 王尧尧彦飞孟思华刘卢芳陈柏赵锦波李彬彬田波杨扬
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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