Mechanical arm trajectory tracking control method and device based on instruction filter
A trajectory tracking and control method technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small application range and complicated controller design process, and achieve the effect of less difficulty and simplified calculation process
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[0066] Example 1
[0067] Such as figure 1 As shown, the trajectory tracking control method of a manipulator based on a command filter, the method includes:
[0068] Step S1: Establish a single-node robotic arm system model. According to the single-node robotic arm system model, construct a single-node robotic arm system state equation considering input saturation characteristics; the specific process is:
[0069] Use formula
[0070]
[0071] Establish a single-node robotic arm system model, where q represents the angle of the single-node robotic arm joint, Represents the angular velocity of a single-node robotic arm joint, Represents the angular acceleration of a single-node robotic arm joint; τ is the control torque generated by the motor subsystem, τ d Is the external disturbance torque and ω is the random disturbance moment, Is the first derivative of the random disturbance torque, u is the control input torque of the electromechanical system, D is the mechanical inertia const...
Example Embodiment
[0134] Example 2
[0135] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a robot arm trajectory tracking control device based on a command filter, and the device includes:
[0136] The state equation acquisition module is used to build a single-node robotic arm system model. According to the single-node robotic arm system model, the state equation of the single-node robotic arm system is constructed considering input saturation characteristics;
[0137] The virtual controller establishment module is used to establish the first virtual controller and the second virtual controller according to the state equation of the single-node robotic arm system;
[0138] The command filter establishment module is used to establish the command filter according to the first virtual controller and the second virtual controller;
[0139] The closed-loop control system establishment module is used to establish a closed-loop control system accord...
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