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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

Active Publication Date: 2020-08-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention lies in the problems that the prior art manipulator track tracking control method has a small scope of application and the controller design process is complicated.

Method used

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  • Mechanical arm trajectory tracking control method and device based on instruction filter
  • Mechanical arm trajectory tracking control method and device based on instruction filter
  • Mechanical arm trajectory tracking control method and device based on instruction filter

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Experimental program
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Effect test

Embodiment 1

[0067] Such as figure 1 Shown, the manipulator trajectory tracking control method based on instruction filter, described method comprises:

[0068] Step S1: Establish the single-node manipulator system model, and construct the state equation of the single-node manipulator system considering the input saturation characteristics according to the single-node manipulator system model; the specific process is as follows:

[0069] use the formula

[0070]

[0071] Establish a single-node manipulator system model, where q represents the angle of the single-node manipulator joint, Represents the angular velocity of a single-node manipulator joint, Represents the angular acceleration of the single-node manipulator 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 moment, u is the control input torque of the electromechanical system,...

Embodiment 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, said device comprising:

[0136] The state equation acquisition module is used to establish a single-node manipulator system model, and according to the single-node manipulator system model, considers input saturation characteristics to construct a single-node manipulator system state equation;

[0137] A virtual controller building module is used to set up a first virtual controller and a second virtual controller according to the single-node manipulator system state equation;

[0138] An instruction filter establishment module is used to establish an instruction filter according to the first virtual controller and the second virtual controller;

[0139] A closed-loop control system establishment module is used to establish a closed-loop control system according to the first virtual control...

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Abstract

The invention discloses a mechanical arm trajectory tracking control method and device based on an instruction filter. The method comprises the following steps that a single-node mechanical arm systemmodel is built, and a single-node mechanical arm system state equation is considered to be input according to the single-node mechanical arm system model; a first virtual controller and a second virtual controller are established according to the single-node mechanical arm system state equation, and the instruction filter is established according to the first virtual controller and the second virtual controller; the instruction filter is established according to the first virtual controller and the second virtual controller; and trajectory tracking control is performed on a mechanical arm byusing a closed-loop control system. The mechanical arm trajectory tracking control method and device based on the instruction filter has the advantages that the application range is expanded, the design process of the controller is simple, and the implementation difficulty is low.

Description

technical field [0001] The present invention relates to the technical field of robot control, and more specifically to a method and device for tracking and controlling the trajectory of a manipulator based on a command filter. Background technique [0002] With the development of science and technology, scholars have deepened their research on robotic systems. In recent years, robot systems have been widely used in industry, agriculture, military and human family life. Since the emergence of robots greatly reduces the amount of labor required in complex production processes and effectively replaces humans in dangerous industries, research on robots is of great significance. The single-node manipulator system is a typical robot system. Since the single-node manipulator is often affected by unknown disturbances and mechanical friction during the work process, its accurate model is difficult to obtain, which makes it difficult to realize the trajectory tracking of the single-n...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1664
Inventor 邱剑彬王桐马敏樊渊
Owner HARBIN INST OF TECH
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