Model prediction and inversion control method for manipulating mechanical arm

Abstract

The invention discloses a model prediction and inversion control method for a mechanical arm. The model prediction and inversion control method comprises the steps of: predicting state information ofa platform and the mechanical arm in a (k+n)th control period according to state information measured in a current k period, carrying out reverse deduction on control input of the platform and controlinput of the mechanical arm in k-(k+n-1)th periods based on a generalized inverse matrix theory; based on the deviation information of the current and historical states, carrying out reverse deduction on compensation control input of the platform and the mechanical arm in a current kth control period to weaken state deviation caused by external interference, parameter uncertainty and other factors; and taking a sum of control input in the kth control period obtained according to a predicted state deviation and the compensation control input obtained according to the current and historical state deviation as control input to be applied to the platform and the mechanical arm in the kth control period. Therefore, high-precision platform posture and mechanical arm joint trajectory tracking synchronous control is achieved, and the model prediction and inversion control method has high anti-interference capacity on parameters and external disturbance.

Description

technical field [0001] The invention relates to the field of robots, in particular to a model prediction and inversion control method of a mechanical arm. Background technique [0002] The mechanical arm has the characteristics of time-varying, nonlinear, and strong coupling, and it has broad application prospects in various fields such as industry, commerce, military affairs, and aerospace. For example, in the industrial production line, robots are used for handling, spraying, and assembly; in the military field, they are used to replace human soldiers to complete various combat tasks such as reconnaissance, use of weapons and vehicles, and clear targets; in the medical field, they are used to complete operations automatically or remotely. The field is used to assist astronaut activities, assist spacecraft rendezvous and docking, transport materials, complete assembly, maintenance, fuel filling and other important tasks. Many application fields put forward higher and highe...

AI Technical Summary

Problems solved by technology

At present, PID control, fuzzy control, sliding mode variable structure control, adaptive control, neural network control and other methods of manipulators have poor control accuracy / stability, and are not robust to disturbance loads and manipulator body parameters. , The human subjective factors of the controller design are greatly affected, usually designed from the perspective of stability, it is difficult to ensure good dynamic performance and steady-state performance at the same time

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