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A sampling control method and device for a flexible joint manipulator based on fuzzy logic

A flexible joint and fuzzy logic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems such as the quantification of the closed-loop manipulator system to suppress external interference, the complexity of controller design, etc., to improve robust performance, The effect of reducing control cost and difficulty

Active Publication Date: 2021-05-18
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

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  • A sampling control method and device for a flexible joint manipulator based on fuzzy logic
  • A sampling control method and device for a flexible joint manipulator based on fuzzy logic
  • A sampling control method and device for a flexible joint manipulator based on fuzzy logic

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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

[0201] 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:

[0202] The dynamic equation acquisition module is used to establish the dynamic equation of the flexible joint manipulator system;

[0203] 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;

[0204] 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;

[0205] 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 of a flexible joint manipulator based on fuzzy logic. The method includes: establishing a dynamic equation of the flexible joint manipulator system; establishing a global fuzzy joint manipulator system; designing a sampling output feedback controller ; Apply the sampling output feedback controller to the global fuzzy flexible joint manipulator system to obtain a closed-loop manipulator system; update the controller gain of the output feedback controller to obtain an optimized manipulator control system, and use the optimized manipulator control system to control the robot The mechanical arm is controlled; the advantages of the present invention are: it is applicable to the situation where the output signal is a discontinuous signal, the difficulty of controller design is low, and the trajectory tracking control of the mechanical arm has stability and robustness.

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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Patent Type & Authority Patents(China)
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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