Singular perturbation theory based flexible mechanical arm motion control method

A singular perturbation theory and flexible manipulator technology, applied in the field of flexible manipulators, can solve the problems of flexible manipulators such as vibration, stretching deformation, and easy bending, and achieve high control precision, simple method implementation, and strong robustness and anti-interference effect

Active Publication Date: 2020-02-04
716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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  • Application Information

AI Technical Summary

Problems solved by technology

Due to the load quality and external interference, the flexible manipulator is prone to bending and stretching deformation during the movement process, wh

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  • Singular perturbation theory based flexible mechanical arm motion control method
  • Singular perturbation theory based flexible mechanical arm motion control method
  • Singular perturbation theory based flexible mechanical arm motion control method

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Embodiment Construction

[0026] The motion control method of the flexible robot arm according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

[0027] Such as figure 1 As shown, a method for controlling the motion of a flexible manipulator based on the singular perturbation theory in an embodiment of the present invention includes the following steps:

[0028] S1: Based on the Lagrangian method and the hypothetical mode method, the dynamic model of the flexible manipulator is established, and the dynamic model is decomposed into subsystems at different time scales by using the singular perturbation theory, including:

[0029] Step 1: Establish a dynamic model of the flexible manipulator Among them, u is the system input, θ is the rotation angle of the manipulator, q is the vibration mode of the system, M is a positive definite matrix, and G θ , G q is the nonlinear term, K is the stiffness matrix, d is the external disturbance, and d ...

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Abstract

The invention belongs to the field of flexible mechanical arms and particularly relates to a singular perturbation theory based flexible mechanical arm motion control method which concretely comprisesa combined control method combining sliding mode variable structure control with optimal control and comprises the following steps of firstly, considering the influence of external disturbance on a system, and designing a sliding mode controller to realize trajectory tracking of the flexible mechanical arm; meanwhile, adopting a least square method to estimate the vibration quantity of the systemunder a slow time scale, and laying a foundation for design of a fast time scale system controller; then, under a fast time scale, based on the optimal control theory, designing a vibration controller to achieve vibration suppression on the flexible mechanical arm; and finally, combining the two of the sliding mode controller and the vibration controller by utilizing the singular perturbation theory to realize combined motion control on the flexible mechanical arm. The invention provides a novel sliding mode control and optimal control based flexible mechanical arm combination control method.By utilizing the method, dual control targets of position tracking and vibration suppression of the flexible mechanical arm can be realized.

Description

technical field [0001] The invention belongs to the field of flexible manipulators, and in particular relates to a motion control method for a flexible manipulator based on singular perturbation theory. Background technique [0002] Robotics is in urgent demand in the fields of aerospace, marine exploration, industrial manufacturing, and life entertainment, and is one of the key research contents in the field of industrial manufacturing. The deep integration of artificial intelligence technology and advanced control methods is an effective means to improve the stability, adaptability, anti-interference, and optimality of robot systems in complex working environments, and to achieve high-precision, high-reliability motion control. Widespread attention from industry and academia. [0003] As an important branch of the robotics field, the robotic arm has always been a research hotspot for experts and scholars. According to the instructions, the robotic arm imitates the work o...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1605
Inventor 许一鸣豆康康王丽方建勇张亚王凯陈伟惠小霞费琪
Owner 716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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