A Vibration Control Method of Flexible Manipulator Based on Cooperative Tracking

Abstract

The invention discloses a vibration control method of a flexible robotic arm based on cooperative tracking. The process of the method is as follows: constructing a dynamic model of the flexible robotic arm according to dynamic characteristics; constructing a flexible robotic arm group composed of a plurality of flexible robotic arms, Designate one of the flexible manipulators as the leader, and the rest as followers. Followers need to track the leader's trajectory to achieve collaborative work. Combined with the Lyapunov method, a boundary controller based on collaborative control is constructed to realize the coordination of flexible manipulators. work, and suppress the vibration of the flexible manipulator; use the Lyapunov direct method to construct the Lyapunov function, and verify the stability of the flexible manipulator under the action of the above controller. The vibration control method based on cooperative tracking proposed by the present invention can effectively suppress the vibration of the flexible manipulator, and the follower can track the movement track of the leader to realize the cooperative control effect of multiple flexible manipulators.

Description

technical field [0001] The invention relates to the technical field of vibration control, in particular to a vibration control method of a flexible mechanical arm based on cooperative tracking. Background technique [0002] Flexible structures have the advantages of light weight and low energy consumption, so they are widely used in engineering fields such as robotic arms, mechanical engineering, and spacecraft. Flexible manipulators have important applications in industrial fields, such as robotics, mechanical engineering, aerospace, etc. In the study of flexible manipulators, Euler-Bernoulli beams are usually used as the basic model. The elastic deformation caused by the external disturbance will lead to the long-term continuous elastic vibration of the flexible manipulator, which will affect the normal operation of the system. Therefore, reducing or eliminating the elastic deformation and vibration of the flexible manipulator is a problem that needs to be solved. The f...

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Problems solved by technology

[0004] At present, most researches on the vibration control of flexible manipulators use PID control, robust control and other methods, but there are few reports on the vibration control method based on cooperative tracking of a flexible manipulator group composed of multiple flexible manipulators.

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