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

A dynamic model and manipulator technology, applied in the field of three-degree-of-freedom manipulator dynamic model, can solve the problems of reducing applicability and not considering the rationality of trajectory, etc., and achieve the effect of strong robustness and adaptability

Inactive Publication Date: 2022-08-02
QINGDAO UNIV OF SCI & TECH
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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

Method used

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

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Embodiment Construction

[0045] see Figure 1 to Figure 7As shown in the figure, the present invention relates to a constrained three-degree-of-freedom manipulator dynamic model. The Euler-Lagrange method is used to establish the manipulator dynamic model, and its state space expression form is given. Based on the particle swarm algorithm The motion planning of the dynamic model of the mechanical arm is calculated, and the dynamic equation of the dynamic model of the mechanical arm is:

[0046]

[0047] Among them: q=[q 1 ,q 2 ,q 3 ] T is the angle vector of the system; τ = [τ 1 ,0,τ 3 ] T is the control torque vector; M(q)∈R 3 ×3 is the inertia matrix, with positive definiteness and symmetry; is the combined vector of Coriolis force and centrifugal force.

[0048] Then the state space form of the system model is:

[0049]

[0050] in:

[0051] f(x)=[x 4 ,x 5 ,x 6 ,f 1 ,f 2 ,f 3 ]

[0052] g(x)=[g 1(x) ,g 2(x) ,g 3(x) ] T

[0053]

[0054] x is the state vector variab...

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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...

Claims

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Application Information

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IPC IPC(8): G06F30/17G06F30/27G06N3/00B25J9/16G06F111/04G06F111/08G06F119/14
CPCG06F30/17G06F30/27G06N3/006B25J9/16B25J9/1628B25J9/163G06F2119/14G06F2111/04G06F2111/08Y02T90/00
Inventor 祖丽楠鞠云鹏刘聪王巧妹
Owner QINGDAO UNIV OF SCI & TECH
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