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A Residual Vibration Suppression Method of Flexible Manipulator

A flexible robotic arm and residual vibration technology, applied in the field of robotics, can solve problems such as poor effects and achieve simple, easy-to-implement, and robust effects

Active Publication Date: 2019-06-07
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The above methods are all model-based control methods. These methods often require accurate physical models and work well when the model is determined, but when the system has uncertainty or changes, the effect is significantly worse.

Method used

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  • A Residual Vibration Suppression Method of Flexible Manipulator
  • A Residual Vibration Suppression Method of Flexible Manipulator
  • A Residual Vibration Suppression Method of Flexible Manipulator

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0060] Such as figure 1 As shown, the method for suppressing residual vibration of a flexible mechanical arm in a preferred embodiment of the present invention includes the following steps:

[0061] S1: Establish the dynamic equation of the flexible manipulator, including:

[0062] S11: Establish the dynamic equation of rigid joint-flexible manipulator:

[0063] From the kinetic energy and potential energy of the system, using the Lagrangian equation, after derivation, the dynamic equation of the rigid joint-flexible manipulator is obtained as:

[0064]

[0065] Among them, M 11 , M 22 Is the inertia matrix of arm 1, 2, M 12 Is the coupling inertia matrix between the two arms, k is the equivalent stiffness of the arms, Is the coupling matrix including Coriolis force and centrifugal force, q is the rotation angle of the arm, p is the equivalent rotation angle of the...

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Abstract

The invention discloses a residual oscillation suppression method for a flexible manipulator. The residual oscillation suppression method comprises the following steps: S1, building a kinetic equation of the flexible manipulator; and S2, suppressing oscillation of the flexible manipulator through a waveform control method. The residual oscillation suppression method for the flexible manipulator can realize oscillation suppression of the flexible manipulator without an accurate physical model.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a method for suppressing residual vibration of a flexible mechanical arm. Background technique [0002] Space manipulator is the core equipment for spacecraft assembly and maintenance in orbit. With the development of on-orbit service technology, it becomes more and more important as an effective means of task execution; however, due to the large operating space and light weight of the space manipulator, The problem of flexibility is more prominent. The flexibility mainly comes from two aspects: joint flexibility and arm flexibility. On the one hand, the flexibility of the robot arm will cause the vibration of the system to reduce the operation accuracy of the end of the robot arm, and on the other hand, it will greatly increase the control difficulty of the system. The modeling and vibration control of the arm are very important. [0003] At present, some scholars have conducted resea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/00B25J19/00
CPCB25J9/1633B25J17/00B25J19/0091
Inventor 刘厚德李亚南梁斌王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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