Nonlinear self-adaptive control method and system for mechanical arm motion control

Abstract

The invention discloses a nonlinear self-adaptive control method and system for motion control of a mechanical arm. The method comprises the steps that the output of an incremental nonlinear inverse dynamics controller is input to a servo motor driver for driving the mechanical arm, and the like. The system is used for implementing the method. According to the method, a mechanical arm motion load model and an external disturbance model required by controller parameter setting are not needed, so that the technical problems of difficulty in motion load model identification and controller time-varying parameter setting in an existing mechanical arm motion control technology are solved. Under the actual condition that the difficulties and problems cannot be effectively solved in the prior art, the mechanical arm motion control method and system are quite simple, effective and high in performance.

Description

technical field [0001] The invention relates to the field of robotic arm motion control, in particular to a nonlinear adaptive control method and system for robotic arm motion control. Background technique [0002] With the continuous development of intelligent technology, more and more intelligent equipment is used in people's life, work and study. The use of intelligent technology has improved the quality of people's life and increased the efficiency of people's study and work. In the field of manipulator motion control, the manipulator system is essentially a nonlinear, time-varying and uncertain system, and the design of the control system requires the use of nonlinear and adaptive control algorithms. [0003] At present, all robotic arm motion control system algorithms use traditional PID control algorithms. The PID control algorithm is a control algorithm based on a linear system. When using the PID algorithm to control the motion of the nonlinear manipulator, the pro...

AI Technical Summary

Problems solved by technology

The invention does not need the mechanical arm motion load model and external disturbance model required for controller parameter adjustment, thereby solving the difficulty of motion load model identification and the technical problem of controller time-varying parameter adjustment in the existing mechanical arm motion control technology

In the reality that the existing technology cannot effectively solve the difficulties and problems, the present invention provides a very simple, effective and high-performance mechanical arm motion control method

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