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Joint Modeling and Sliding Mode Control Method of Flexible Manipulator Considering the Characteristics of Joint Motors

A technology of flexible manipulators and control methods, which is applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools, which can solve the problems that the end displacement deviation value cannot be given quantitatively, and achieve the effect of rapid convergence

Active Publication Date: 2022-04-29
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Based on the above two control difficulties, the robust control of existing flexible manipulators mostly only takes stability as the control goal, and cannot quantitatively give the exact value of the end displacement deviation.

Method used

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  • Joint Modeling and Sliding Mode Control Method of Flexible Manipulator Considering the Characteristics of Joint Motors
  • Joint Modeling and Sliding Mode Control Method of Flexible Manipulator Considering the Characteristics of Joint Motors
  • Joint Modeling and Sliding Mode Control Method of Flexible Manipulator Considering the Characteristics of Joint Motors

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Embodiment Construction

[0094] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0095] combine Figures 1a-3d , the control flow of the present invention is as follows:

[0096] 1. Joint modeling of flexible manipulator-joint motor

[0097] Here, taking the dual-arm flexible manipulator as an example, fully considering the uncertainty of the model parameters, the manipulator system can be expressed as

[0098]

[0099] Among them, θ=[θ 1 θ 2 ] T ∈ R 2 is the joint rotation angle, q=[q 1 q 2 ] T ∈ R 4 ,q i =[q i1 q i2 ] T Respectively represent the flexible mode of the i-th rod, i=1,2; E 1 ∈ R 2×2 and E 2 ∈ R 4×4 is the damping matrix, K∈R 4×4 are stiffness matrices, they are all positive definite; f r (θ,q)∈R 2 is the vector affected by gravity; f f (θ,q)∈R 4 is an item affected by centrifugal force and Coriolis force; τ=[τ 1 τ 2 ] T ∈ R 2 is the control input torque; M(θ,q)∈R 6×6 is a positive definite symme...

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Abstract

The object of the present invention is to provide joint modeling and sliding mode control method of flexible manipulator considering joint motor characteristics, comprising the following steps: (1) joint modeling of flexible manipulator-joint motor; (2) model transformation and decoupling; 3) Design a finite-time sliding mode controller for redefining the subsystem; (4) Obtain the end displacement of the flexible manipulator. The present invention aims at the flexible manipulator, fully considers its parameter uncertainty and joint motor dynamics, realizes the joint modeling of the two, and redefines its output, solves its minimum phase problem, and realizes the control of the joint motor to the end displacement of the flexible manipulator Direct control; realize the rapid convergence of the end displacement, and analyze the dynamic characteristics of the drive motor and the influence of parameter uncertainty on the sliding mode control system of the manipulator, and deduce the error range of the end displacement.

Description

technical field [0001] The invention relates to a control method of a flexible mechanical arm. Background technique [0002] The joint motion of the flexible manipulator is mostly driven by motors. However, due to the complexity of the mechanical structure and nonlinear dynamic behavior of the manipulator itself, it is often necessary to ignore the dynamics of the joint motors, thereby cutting off the control effect of the joint motors on the performance of the manipulator. [0003] Usually, the joints of flexible manipulators are driven by motors, and compared with rigid manipulators, flexible joint drives require higher requirements on the weight and efficiency of drive motors to achieve safe, reliable and stable operation. Compared with asynchronous motors, stepping motors and other types of motors, DC motors are widely used in the joint drive of flexible manipulators due to their simple structure, large speed range, and easy to achieve linear and fast start-stop control....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1653
Inventor 孙兰昕葛杨牛子铭王艳敏
Owner HARBIN ENG UNIV