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Point-to-point iterative learning optimization control method of motor-driven single mechanical arm system

A motor-driven, single-arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of not fully utilizing the degree of freedom of non-tracking time points to design controllers, etc.

Active Publication Date: 2020-02-21
JIANGNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] There are two common solutions to the point-to-point tracking problem: one is to design an arbitrary trajectory passing through a specific tracking point, so as to convert the problem into a general full trajectory tracking, but this method has limitations and requires sufficient prior knowledge to Determine the best fixed reference trajectory, and do not make full use of the degree of freedom of the non-tracking time point to design the controller; the second is the point-to-point control method based on the reference trajectory update, although it converges faster than the fixed reference trajectory method, it is essentially the whole trajectory Tracking problem, full trajectory tracking needs to track the output of the entire trajectory, and some industrial processes such as manipulator operation only need to track the expected value of a few points on the trajectory to meet the control requirements

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  • Point-to-point iterative learning optimization control method of motor-driven single mechanical arm system
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  • Point-to-point iterative learning optimization control method of motor-driven single mechanical arm system

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Embodiment Construction

[0125] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0126] combine Figure 1-Figure 8 shown, please refer to figure 1 , which shows a model block diagram of the motor-driven single manipulator control system disclosed in the present application. The controller input for batch k is u k , acting on the manipulator can get the actual output y of the kth batch of the system k , the actual output at the specified tracking point can be obtained through the tracking point selector, and the error between it and the set expected value stored in the expected track memory is passed to e kM , the error is compared with the set precision value, if the error does not reach the set precision, the error e kM with current controller input u k Pass to the optimized iterative learning controller to generate the next batch of controller inputs u k+1 , so that the loop runs until the error between the actua...

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Abstract

The invention discloses a point-to-point iterative learning optimization control method of a motor-driven single mechanical arm system, and relates to the field of mechanical arm optimization control.According to the method, based on an improve technology, a single mechanical arm system running repeatedly is converted into an input-output matrix model of a time sequence, and then a point-to-pointtrajectory tracking robust iterative learning optimization method is designed based on performance indexes; an optimal iterative learning control law is obtained by solving a quadratic optimal solution of a multi-objective performance index function; and the robust convergence of an algorithm is proved when the model has bounded uncertainty according to a maximum singular value theory, and the convergence of the mechanical arm system under the condition that the input is constrained is proved as well. By means of the method, the point-to-point tracking control of the mechanical arm system isachieved; and meanwhile, the condition that the input is constrained and the modeling is uncertain is taken in consideration, so that the high-precision tracking of the expected trajectory at the designated point is achieved.

Description

technical field [0001] The invention relates to the field of optimal control of a mechanical arm, in particular to a point-to-point iterative learning optimal control method for a motor-driven single mechanical arm system. Background technique [0002] The robotic arm is an automatic operating device that can imitate certain movements and functions of the human arm to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. [0003] When the robotic arm performs repetitive process tasks, it often does not need to track the complete expected trajectory, but only needs to track the given expected value at certain specific time points, such as the "pick" and "put" operations of the r...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 陶洪峰李健黄彦德
Owner JIANGNAN UNIV
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