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Inner position loop impedance control algorithm for mechanical arm with joint flexibility/arm lever flexibility

A technology of impedance control and impedance controller, which is applied in the field of intelligent algorithm optimization, can solve problems such as reports and no results of space manipulators

Inactive Publication Date: 2017-03-29
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are no reports on the space manipulator with joint flexibility and arm flexibility at the same time.

Method used

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  • Inner position loop impedance control algorithm for mechanical arm with joint flexibility/arm lever flexibility
  • Inner position loop impedance control algorithm for mechanical arm with joint flexibility/arm lever flexibility
  • Inner position loop impedance control algorithm for mechanical arm with joint flexibility/arm lever flexibility

Examples

Experimental program
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Embodiment Construction

[0032] Taking the space two-link flexible manipulator as the simulation research object, the impedance control algorithm simulation platform is built based on the Simulink platform, and the response of the manipulator to different control algorithms is compared and analyzed.

[0033] Based on the System Function function, the position inner loop impedance control algorithm is built in Matlab / Simulink, and the fourth-order Runge-Kutta method with fixed step length is used. The simulation step size is set to 0.01s and the simulation time is 5s. The initial joint position of the manipulator is θ 1 = π / 2, θ 2 =-π / 2, the initial angular velocity of the joint is 0. During the simulation process, the expected movement trajectory of the manipulator is as follows: The desired contact force is 5N.

[0034] take k p is 5, k d is 12, and the control parameters are:

[0035] Finally, the simulation diagram can be obtained, such as figure 1 As shown, it represents the actual traje...

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Abstract

The invention provides an inner position loop impedance control algorithm for a mechanical arm with joint flexibility / arm lever flexibility, and belongs to the field of intelligent algorithm optimization; and motion simulation of contact operation of the two-connecting-rod flexible joint / flexible arm lever type mechanical arm is realized. The method comprises the steps of performing arm lever discrete analysis by utilizing an assumed mode method; building a mechanical arm dynamics model by adopting a Kane equation; designing an inner position loop impedance controller; and establishing a control simulation platform based on Simulink, thereby realizing the motion of the contact operation of the mechanical arm. A simulation result shows that the existence of a flexibility characteristic causes deformation of the arm lever; and the designed impedance controller can realize trajectory tracking and contact force control of the flexible mechanical arm.

Description

technical field [0001] The invention belongs to the field of intelligent algorithm optimization, and in particular relates to a position inner loop impedance control considering joint flexibility and flexible contact operation of an arm. Background technique [0002] With the rapid development of space technology, the use of robotic arms to assist astronauts in completing various operations has become a research hotspot. The relatively large length-to-width ratio of space robotic arms is generally regarded as a slender rod, which will produce elastic deformation during operation. The presence of flexible components such as harmonic reducers and torque sensors in the joints makes the joints deform flexibly. The elastic deformation coupling of joint flexibility / arm flexibility during movement will cause difficulties in the active control of the manipulator. It is necessary to design a controller that considers joint flexibility / arm flexibility. [0003] Force-position hybrid ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20
Inventor 褚明任珊珊贾庆轩左权马龙
Owner BEIJING UNIV OF POSTS & TELECOMM
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