Mechanical arm control precision collaborative optimization method

Abstract

The invention belongs to the technical field of mechanical and control system simulation and particularly relates to a mechanical arm control precision collaborative optimization method. The method comprises the steps that firstly, configuration analysis and forward kinematics analysis of a mechanical arm are performed; secondly, inverse kinematics analysis of the mechanical arm is performed; thirdly, the track of the tail end of the mechanical arm is planned; fourthly, the space track of joints of the mechanical arm is planned; fifthly, topological optimization of a mechanical arm rod is performed; sixthly, control parameter collaborative optimization is performed; and seventhly, comparison validation is performed. The mechanical arm control precision collaborative optimization method isused for a series connection six-degree-of-freedom light mechanical arm which is independently researched and developed, on the basis that the configuration and kinematics of the mechanical arm of thetype are analyzed, an inverse kinematics analytical algorithm of the mechanical arm of the type is put forward, and all the joints of the mechanical arm are subjected to working track planning by means of the inverse kinematics calculation method.

Description

Technical field [0001] The invention belongs to the technical field of machinery and control system simulation, and specifically relates to a method for collaborative optimization of control accuracy of a mechanical arm. Background technique [0002] For the robotic arm, its mechanical system and control system are closely related. The performance of the two systems together determines the overall performance of the robotic arm. The most fundamental manifestation is the repeated positioning accuracy of the end of the robotic arm. The mechanical system fundamentally limits the optimal degree of repeat positioning accuracy of the end of the manipulator, which determines the uncontrollable error of the end of the manipulator. The joint servo control system directly determines the following error of the end of the manipulator. [0003] Whether it is the mechanical structure of the robot arm or the control parameters of the robot arm joints, it is necessary to optimize the design durin...

AI Technical Summary

Problems solved by technology

This separates the mechanical system and control system of the manipulator, and the solution optimized by traditional methods is often not the optimal design of the system as a whole.

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