Method for improving motion planning control precision of mechanical arm

A technology of control accuracy and motion planning, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the decline of tracking performance at the end of the manipulator, and achieve the effect of solving the decline in tracking performance and improving control accuracy.

Active Publication Date: 2019-12-13
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, by introducing the extrapolation method, the control model under the condition that the control signal may be lost is realized to solve the problem of the degradation of the tracking performance at the end of the manipulator

Method used

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  • Method for improving motion planning control precision of mechanical arm
  • Method for improving motion planning control precision of mechanical arm
  • Method for improving motion planning control precision of mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Embodiment 1 is an existing tension-dynamic model without a strategy in the case of possible loss of control signals, and Embodiment 2 is a tension-dynamic model of an extrapolation strategy in the case of possible loss of control signals in this patent.

[0042] Such as figure 2 As shown, Embodiment 1 and Embodiment 2 are based on the six-link robotic arm model.

[0043] Example 1

[0044] A method for motion planning control of a mechanical arm, comprising the following steps:

[0045] According to the mechanical mechanism of the mechanical arm, the mathematical model of the mechanical arm is obtained, and the mathematical model is expressed by the following formula:

[0046]

[0047]

[0048] k represents the kth moment, f( ) is a nonlinear mapping function, θ k is the angle of the joint angle of the manipulator at the kth moment, is the actual end trajectory of the manipulator at the kth moment, is the ideal end trajectory of the manipulator at the kth...

Embodiment 2

[0061] Such as figure 1 As shown, a method of improving the control accuracy of the motion planning of the manipulator includes the following steps:

[0062] According to the mechanical mechanism of the mechanical arm, the mathematical model of the mechanical arm is obtained, and the mathematical model is expressed by the following formula:

[0063]

[0064]

[0065] k represents the kth moment, f( ) is a nonlinear mapping function, θ k is the angle of the joint angle of the manipulator at the kth moment, is the actual end trajectory of the manipulator at the kth moment, is the ideal end trajectory of the manipulator at the kth moment, is the time derivative of the angle of the joint angle of the manipulator at the kth moment, is the time derivative of the end trajectory of the manipulator at the actual kth moment, J( ) is the Jacobian matrix;

[0066] According to the mathematical model of the manipulator, the control model of the manipulator is obtained throug...

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Abstract

The invention discloses a method for improving motion planning control precision of a mechanical arm. The method comprises the steps of obtaining a mathematical model of the mechanical arm according to the mechanical mechanism of the mechanical arm; according to the mathematical model of the mechanical arm, obtaining a control model of the mechanical arm through dynamic theoretical analysis; carrying out solving by utilizing an Euler formula and an extrapolation method according to the control model of the mechanical arm; and controlling the motion of the mechanical arm according to the solvedresult. According to the method, the dynamic method is adopted, and under the ideal condition, the tracking control of the actual tail end track of the mechanical arm on the ideal track is successfully realized on the speed layer; and meanwhile, by introducing the extrapolation method, the control model is obtained under the condition that a control signal can be lost, so that the motion planningcontrol precision of the mechanical arm is improved, and the problem that the tracking performance of the tail end of the mechanical arm is reduced is solved.

Description

technical field [0001] The invention relates to the field of manipulator control, and more specifically, to a method for improving the control precision of the motion planning of the manipulator. Background technique [0002] As a booming research field, robots have been widely used in industries such as industry and service industries, such as spraying robots, welding robots, vehicle-mounted mechanical arms, etc. in the industry, customer service robots, and rehabilitation assistance robots in the service industry. Wait. Many robot control problems can be classified as manipulator motion planning control problems. The key to solving such problems is to obtain an effective manipulator motion planning control model, so that the manipulator can rotate the joint angle under certain constraints to achieve the ideal end trajectory tracking. track requirements. Robotic arm control systems are usually divided into offline control systems and online control systems. For the off-l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 张雨浓凌一宏黄焕昌施妮妮毛明志
Owner SUN YAT SEN UNIV
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