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A method to improve the precision of motion planning and control of robotic 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: 2022-07-19
SUN YAT SEN UNIV
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  • 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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  • A method to improve the precision of motion planning and control of robotic arm
  • A method to improve the precision of motion planning and control of robotic arm
  • A method to improve the precision of motion planning and control of robotic arm

Examples

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Comparison scheme
Effect test

Embodiment 1

[0041] Embodiment 1 is the existing strategy-free tension dynamics model under the condition that the control signal may be lost, and the embodiment 2 is the tension dynamics model of the extrapolation strategy of the present patent under the condition that the control signal may be lost.

[0042] like figure 2 As shown, Examples 1 and 2 are based on a six-link robotic arm model.

[0043] Example 1

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

[0045] According to the mechanical mechanism of the manipulator, the mathematical model of the manipulator 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 kt...

Embodiment 2

[0061] like figure 1 As shown in the figure, a method for improving the accuracy of motion planning and control of a manipulator includes the following steps:

[0062] According to the mechanical mechanism of the manipulator, the mathematical model of the manipulator 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 time, J( ) is the Jacobian matrix;

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

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Abstract

The invention discloses a method for improving the motion planning and control accuracy of a mechanical arm, comprising the following steps: obtaining a mathematical model of the mechanical arm according to the mechanical mechanism of the mechanical arm; Control model; according to the control model of the manipulator, use Euler's formula and extrapolation to solve; control the motion of the manipulator according to the solution results. The present invention adopts the dynamic method, and under ideal conditions, successfully realizes the tracking control of the ideal trajectory of the actual end trajectory of the mechanical arm on the velocity layer. At the same time, by introducing the extrapolation method, the control model under the condition that the control signal may be lost is realized, and the control accuracy of the motion planning of the manipulator is improved, so as to solve the problem of the degradation of the tracking performance of the end of the manipulator.

Description

technical field [0001] The invention relates to the field of robotic arm control, and more particularly, to a method for improving the control precision of robotic arm motion planning. Background technique [0002] As a booming research field, robots have a wide range of application scenarios in industry and service industries, such as shotcrete robots, welding robots, vehicle-mounted robotic arms, etc. in industry, and customer service robots and rehabilitation assistance robots in the service industry. Wait. Many robot control problems can be classified as robotic arm motion planning control problems. The key to solving such problems is to obtain an effective robotic arm motion planning control model, so that the robotic arm can rotate the joint angle under certain constraints to achieve the ideal end trajectory tracking. track requirements. The robotic arm control system is usually divided into an offline control system and an online control system. For the off-line co...

Claims

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Application Information

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Patent Type & Authority Patents(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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