Three-degree-of-freedom mechanical arm dynamic model with constraint

Abstract

The invention relates to a constrained three-degree-of-freedom mechanical arm dynamic model, which is characterized in that the mechanical arm dynamic model is established by using an Euler-Lagrange method, a dynamic equation expression form of a state space of the mechanical arm dynamic model is given, and a motion plan of the mechanical arm dynamic model is calculated based on a particle swarm algorithm. The method has a quick response capability; accurate position deviation can be obtained; the control method has relatively high robustness and self-adaptability; the speed regulation range and the torque output range are large enough.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a constrained three-degree-of-freedom mechanical arm dynamics model. Background technique [0002] The robotic arm is widely used in production and life. As a mechatronics device, it can efficiently complete various complex and dangerous operations and improve production efficiency. It has been widely used in industry, aerospace, medical and other fields. The motion control of the robotic arm is essentially a multi-axis position follow-up system used for the motion control of the robotic arm joints. The controlled quantity (output quantity) is the angular displacement of the spatial position of the load machine. When the position given quantity (input quantity) does a specific task When changing, the system needs to make the output quickly and accurately track the change of the given amount. Therefore, the motion control system of the robot arm includes two parts: traj...

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Problems solved by technology

[0003] In the prior art, a part starts from the accuracy of the model and the uncertainty of the model parameters to study its influence on the control accuracy, such as "Model Uncertainty Manipulator Motion Control Method Based on Multilayer Neural Network", "A Multi-degree-of-freedom manipulator flexible control method and system"; part of the research is only on whether the trajectory design is reasonable, such as "a multi-point motion trajectory planning method for a manipulator", etc., but in the trajectory planning process, for specific tasks The discussion of the required trajectory function and its constraints needs to be further refined; there are also some patents that specialize in the design of trajectory tracking controllers, such as "a trajectory tracking algorithm for decentralized neural robust control of manipulators", these patents do not have Considering the rationality of the trajectory, the influence of the inertial force of the manipulator is ignored, which reduces its applicability. At the same time, the tracking accuracy and system stability need to be further improved.

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