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Dynamic modeling and track following control method and device for flexible robot

A dynamic modeling and control device technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the complex problems of robot dynamic control and trajectory planning, achieve optimal driving rope tension, save energy, and improve trajectory following The effect of precision

Pending Publication Date: 2021-07-23
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, due to the large number of degrees of freedom of this type of mechanism, the existence of multi-level dynamic coupling of the master-slave segmented linkage manipulator makes the dynamic control and trajectory planning of this type of robot more complicated.

Method used

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  • Dynamic modeling and track following control method and device for flexible robot
  • Dynamic modeling and track following control method and device for flexible robot
  • Dynamic modeling and track following control method and device for flexible robot

Examples

Experimental program
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Effect test

Embodiment 1

[0049] This example provides a soft robot, such as figure 1 . The flexible robot is based on a discrete rigid link and a segmented linkage configuration, and its main parts include an arm rod, a central block, a linkage rope, and a driving rope. The arms are connected by universal joints, and several connected arms form an arm segment, and the degree of freedom in the same direction is coupled together through the connection of linkage ropes in each arm segment, so that the joints between adjacent joints in the arm segment The included angles are strictly equal, and each arm segment is controlled with two degrees of freedom by three cables.

[0050] In this embodiment, by introducing a flexible robot, the existing 6-DOF robot has limited motion space, poor motion flexibility, and is not suitable for an unstructured environment. This type of flexible robot has the advantages of large movement space, strong flexibility, and good environmental adaptability, and adopts a discret...

Embodiment 2

[0052] Embodiment 2 of the present invention provides a dynamic modeling and trajectory following control method for a flexible robot. This embodiment is suitable for a flexible robot with a discrete rigid link and segmented linkage configuration. Follow the given trajectory. figure 2 It is an implementation flowchart of a flexible robot dynamics modeling and trajectory following control method provided by the embodiment of the present invention. As shown in the figure, the method may include the following steps:

[0053] S1 establishes the "rope-joint-end" multiple transmission kinematics model: establishes a D-H coordinate system for each joint of the target robot, and obtains the D-H parameter table according to the actual geometric parameters between each joint and the joints, and then derives the pose and velocity of the robot end , acceleration, joint angle, angular velocity, and angular acceleration, and establish a mapping relationship from joint space to terminal Car...

Embodiment 3

[0184] Embodiment 3 of the present invention provides a dynamic modeling and trajectory following control device for a flexible robot, which is used to implement the method described in Embodiment 2, such as Figure 7 As shown, it is the flexible robot dynamics modeling and trajectory following control device of this embodiment, classified according to the action type, can be divided into the following modules:

[0185] Deviation data acquisition module: used to obtain relative deviation data and construct the space model of the flexible robot, the relative deviation data includes: the relative position displacement and the deviation of the position and posture of the end point of the flexible robot and the set expected point, the actual The deviation of the rope length from the expected rope length and the deviation of the actual tension of the rope from the expected tension.

[0186] Calculation module: Cartesian space spline interpolation, kinematics, dynamics, and nonlinea...

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Abstract

The invention discloses a dynamic modeling and track following control method and device for a flexible robot. The method comprises the steps of establishing, according to mechanism geometric parameters of a discrete rigid connecting rod and linkage mechanism configuration type rope-driven series robot, a joint-tail end kinematic model by means of a D-H parameter method; and establishing, according to the rope transmission relation between joints, a rope-joint-tail end multiple dynamic coupling model. Furthermore, a segmented linkage type series-parallel hybrid dynamic solving method is provided, and a series-parallel hybrid dynamic model of the rope-driven series robot is deduced and established by solving the acting force of a driving rope and a linkage rope according to the driving-driven passive transmission characteristic; and the obtained dynamic model is used as feedforward control input of a controller to compensate motion errors, and meanwhile, a nonlinear quadratic programming module is designed to perform weighted optimization on rope tension and operation space precision indexes, so that high-precision following motion of a tail end operation space pose is realized, and the rope tension and the tail end pose are synchronously optimized.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a dynamic modeling and track following control method and device for a flexible robot. [0002] technical background [0003] Nowadays, there are higher and higher requirements for the environmental adaptability of intelligent robots and the ability to overcome environmental restrictions. Due to the small working space and insufficient mobility of traditional industrial robots, especially the weak adaptability to some unstructured environments, And it is faced with the limitation of the number of degrees of freedom and the difficulty of the rigid arm to complete the crossing of various obstacles in the narrow environment. The rope-driven ultra-redundant robot has the characteristics of many degrees of freedom, small arm, strong movement flexibility and good environmental adaptability, but poor rigidity. The rope-driven super-redundant robot with discrete rigid links and segmented lin...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 彭键清韩瑜吴皓轩
Owner SUN YAT SEN UNIV
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