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Sampling control method and device for flexible joint mechanical arm based on fuzzy logic

A technology of flexible joints and fuzzy logic, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of quantification of external interference suppression and complex controller design without proposed closed-loop manipulator system, to achieve improved robust performance, The effect of reducing control costs and ensuring stability

Active Publication Date: 2020-09-29
HEBEI UNIV OF TECH
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  • Application Information

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Problems solved by technology

[0012] In summary, the prior art manipulator control method has the following defects: 1. It is not suitable for the situation where the output signal is a discontinuous signal; 2. The controller design is complicated; 3. There is no closed-loop manipulator system to suppress external interference. Quantified technical indicators

Method used

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  • Sampling control method and device for flexible joint mechanical arm based on fuzzy logic
  • Sampling control method and device for flexible joint mechanical arm based on fuzzy logic
  • Sampling control method and device for flexible joint mechanical arm based on fuzzy logic

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Experimental program
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Embodiment 1

[0096] Such as Figure 1 to Figure 3 as shown, figure 1 It is a schematic diagram of the structure of the flexible joint manipulator, figure 2 is a schematic diagram of the fuzzy membership function of the flexible joint manipulator system, image 3 It is a flow chart of the present invention, a method for sampling control of a flexible joint manipulator based on fuzzy logic, the method comprising:

[0097] Step S1: Establish the dynamic equation of the flexible joint manipulator system; its dynamic characteristics can be described by the following Euler-Lagrangian dynamic equation:

[0098] by formula

[0099] Establish the dynamic equation of the flexible joint manipulator system, where, q 1 Indicates the rotation angle of the joint connecting rod of the manipulator, q 2 Indicates the angle of rotation of the motor shaft; Indicates the angular acceleration of the rotation of the joint connecting rod of the manipulator, Indicates the angular acceleration of the mo...

Embodiment 2

[0199] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a fuzzy logic-based sampling control device for a flexible joint manipulator, which includes:

[0200] The dynamic equation acquisition module is used to establish the dynamic equation of the flexible joint manipulator system;

[0201] The model building module is used to perform local point linearization on the dynamic equation of the flexible joint manipulator system, and establishes the global fuzzy flexible joint manipulator system through the fuzzy membership function;

[0202] The controller building module is used to sample and measure the output signal of the global fuzzy flexible joint manipulator system by using the zero-order holder, and design a sampling output feedback controller;

[0203] The closed-loop system acquisition module is used to apply the sampling output feedback controller to the global fuzzy flexible joint manipulator system to obtain t...

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Abstract

The invention discloses a sampling control method and device for a flexible joint mechanical arm based on fuzzy logic. The sampling control method comprises the steps that a dynamic equation of a flexible joint mechanical arm system is established; a global fuzzy flexible joint mechanical arm system is established; a sampling output feedback controller is designed; the sampling output feedback controller is applied to the global fuzzy flexible joint mechanical arm system to obtain a closed-loop mechanical arm system; and the controller gain of the output feedback controller is updated to obtain an optimal mechanical arm control system, and a robot mechanical arm is controlled by the optimal mechanical arm control system. The sampling control method has the advantages that the sampling control method is suitable for the situation that an output single is a discontinuous signal, the controller design difficulty is low, and the mechanical arm trajectory tracking control has stability androbustness.

Description

technical field [0001] The invention relates to the field of artificial intelligence and control, and more specifically to a method and device for sampling control of a flexible joint manipulator based on fuzzy logic. Background technique [0002] With the rise of artificial intelligence technology and robots, robotic systems have been widely used in many fields such as industrial production, aerospace operations, military operations, and medical care. The flexible joint manipulator system is a typical robot system, which has the advantages of light weight, low damage rate, low power consumption, and high flexibility. In recent years, with the rapid development of digital computer technology, the application of discrete digital controllers to control the sampling control of continuous controlled objects plays an increasingly important role in modern control applications. Effective digital control of the system is a hotspot of current research. [0003] On the other hand, i...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1635
Inventor 纪文强邱剑彬顾军华樊渊
Owner HEBEI UNIV OF TECH
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