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Mechanical arm terminal sliding mode control system based on spinor model

A technology of control system and terminal sliding mode, which is applied in the field of robotic arms, can solve problems such as increased labor costs and increased rights and interests of laborers, and achieves the effect of efficient tracking control

Pending Publication Date: 2022-07-22
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

A series of problems such as increased labor costs and increased rights and interests of laborers are unavoidable

Method used

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  • Mechanical arm terminal sliding mode control system based on spinor model
  • Mechanical arm terminal sliding mode control system based on spinor model
  • Mechanical arm terminal sliding mode control system based on spinor model

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Experimental program
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Embodiment

[0031] In this embodiment, the kinematics and dynamics models of the manipulator are established based on the screw theory, and the external disturbance and error of the manipulator system are removed by using the neural network, and the terminal sliding mode control law is designed to ensure the efficient tracking control of the manipulator joint space. The Novel theory proves the stability of the system and realizes the numerical simulation of the proposed control algorithm. In the open source environment, the AUBO-i5 is taken as the research object to complete the simulation experiment.

[0032] (1) The kinematics of the manipulator: In the kinematics of the rigid manipulator, the relationship between the joint space angle and the pose of the end effector (which can be expressed in different coordinate systems) is mainly established, and each pose is obtained through the screw theory. The relationship between.

[0033] (2) Dynamics of the robotic arm: The two most frequentl...

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Abstract

The invention discloses a mechanical arm terminal sliding mode control system based on a spinor model, and relates to the technical field of mechanical arms. Comprising the following steps: step 1, modeling a mechanical arm; 2, neural network approximation; 3, a control method: adopting a control system design method based on a Lyapunov stability theory; according to the method, mechanical arm kinematics and dynamics models are established based on the spinor theory, meanwhile, external interference and errors of a mechanical arm system are removed through a neural network, and a terminal sliding mode control law is designed to guarantee efficient tracking control over the joint space of the mechanical arm. The system stability is proved by using the Lyapunov theory, numerical simulation of the proposed control algorithm is realized, and a simulation experiment is completed by taking AUBO-i5 as a research object in an open source environment.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a terminal sliding mode control system of a mechanical arm based on a screw model. Background technique [0002] With the continuous progress of human society, the human civilization system is constantly moving towards new heights. A series of problems such as rising labor costs and increasing labor rights and interests that follow are unavoidable. In order to solve these problems, human society will inevitably enter the machine age. Industrial development is an indispensable part of social development, and the scope of application of industrial robots represents the degree of civilization of society to a great extent. With the continuous development of technology, industrial robots have replaced humans to perform some repetitive and frequent tasks in industrial processing and production, and can surpass human capabilities to complete high-intensity tasks th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马静吴家丞
Owner HARBIN UNIV OF SCI & TECH