Intelligent leveling control method and system for flexible mechanical arm

By constructing a gravity field tilt inverse mapping model and FFT frequency domain analysis, combined with controller feedback leveling control commands, the problems of attitude leveling accuracy and response lag of the flexible robotic arm under dynamic disturbances were solved, achieving efficient attitude recognition and control response, and improving the stability and adaptability of the flexible robotic arm.

CN121973201AInactive Publication Date: 2026-05-05THE FIFTH AFFILIATED HOSPITAL SUN YAT SEN UNIV +1
0 Cites 0 Cited by

Patent Information

Application Number
CN202610101337.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-26
Publication Date
2026-05-05
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

The problems of attitude leveling accuracy and control response lag of flexible robotic arms under dynamic disturbances and gravity imbalances are that existing technologies are unable to accurately identify attitude deviations under uncertain disturbances and the control strategies lack optimization for disturbance source characteristics.

Method used

By collecting data from the flexible robotic arm, a gravity field tilt inverse mapping model is constructed. The disturbance signal features are extracted by combining FFT frequency domain analysis, and a leveling control command is generated. This command is then sent to the actuator through the controller to perform the leveling operation, and closed-loop correction is performed based on the operation feedback.

Benefits of technology

It achieves high-precision posture recognition and rapid response of flexible robotic arms in complex environments, improves the robustness and real-time performance of the control system, and enhances the ability to identify disturbances and the adaptability of control strategies.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

The invention discloses an intelligent leveling control method and system for a flexible mechanical arm, and relates to the technical field of mechanical intelligent control, and the intelligent leveling control method comprises the following steps: collecting data of the flexible mechanical arm in a static and inclined state, and constructing a gravity field inclined reverse mapping model based on the collected data; extracting disturbance signal characteristics by adopting an FFT frequency domain analysis method, and generating a leveling control instruction in combination with a gravitational field inclination reverse mapping model; the controller is used for sending the leveling control instruction to a driving flexible actuator for leveling operation, and closed-loop correction is carried out based on operation feedback; a gravitational field inclination reverse mapping model is constructed, FFT frequency domain analysis is utilized to extract disturbance characteristics and generate a leveling control instruction, and a closed-loop feedback mechanism is combined to perform adaptive adjustment on a flexible actuator, so that the problems of low leveling control precision and poor robustness of the flexible mechanical arm are effectively solved.
Need to check novelty before this filing date? Find Prior Art