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Single-connecting-rod flexible mechanical arm control method and system

A technology of flexible manipulators and control methods, applied in the field of robotics, can solve problems such as difficulty in obtaining model parameters

Active Publication Date: 2018-05-11
THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a single-link flexible manipulator control method and system to solve the problem that it is difficult to obtain accurate model parameters in the modeling process of traditional single-link flexible manipulators

Method used

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  • Single-connecting-rod flexible mechanical arm control method and system
  • Single-connecting-rod flexible mechanical arm control method and system
  • Single-connecting-rod flexible mechanical arm control method and system

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Embodiment 1

[0050] Such as figure 1 As shown, the first embodiment provides a single-link flexible manipulator control method for controlling the operation of the single-link flexible manipulator. Wherein, the single-link flexible manipulator includes a single-link manipulator and a motor, the motor is installed on the base of the single-link manipulator, and the single-link manipulator is provided with a flexible joint. In this embodiment, the single-link flexible manipulator control method can be executed by a controller such as a PLC (programmable logic controller), and includes the following contents.

[0051] Step S101, acquiring the value of the state quantity of the single-link flexible manipulator in real time.

[0052] In this embodiment, the real-time acquisition means that each time the single-link flexible manipulator control method is repeatedly executed, the latest value of the state quantity needs to be acquired. The state quantity refers to the physical quantity describi...

Embodiment 2

[0095] The second embodiment provides a single-link flexible manipulator control system, including the following content, please refer to image 3 .

[0096] The variable acquisition module 301 is used to acquire the value of the state quantity of the single-link flexible manipulator in real time.

[0097] The parameter estimation module 302 is used for estimating unknown parameters in the state space model of the single-link flexible manipulator by using a set estimation model according to the value of the state quantity, and obtaining corresponding estimated values ​​of the unknown parameters.

[0098] The control quantity calculation module 303 is used to obtain the control quantity according to the given trajectory, the estimated value of the unknown parameter and the adaptive near-optimal control rate formula, so that the control quantity can control the single-link flexible manipulator along the run on the given trajectory.

[0099] The trajectory control module 304 is...

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Abstract

The invention provides a single-connecting-rod flexible mechanical arm control method and system. The single-connecting-rod flexible mechanical arm control method comprises the following steps: acquiring the value of the state quantity of a single-connecting-rod flexible mechanical arm in real time; according to the value of the state quantity, utilizing a set estimation model to estimate unknownparameters in a state space model of the single-connecting-rod flexible mechanical arm and to obtain the estimated value of the corresponding unknown parameter; according to the given track, the estimated value of the unknown parameter and a self-adaption near-optimality control rate formula, obtaining a controlled quantity to enable the controlled quantity to control the single-connecting-rod flexible mechanical arm to run along the given track; and utilizing the controlled quantity to control the single-connecting-rod flexible mechanical arm to run. With adoption of the single-connecting-rodflexible mechanical arm control method, under the condition that the value of the unknown parameter in the state space model of the single-connecting-rod flexible mechanical arm is unknown, the single-connecting-rod flexible mechanical arm can be controlled through the controlled quantity to realize the situation that the tail end of the single-connecting-rod flexible mechanical arm tails after the given track.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a control method and system for a single-link flexible mechanical arm. Background technique [0002] Robot technology is a high-tech integrated with computer, cybernetics, structure, information and sensor technology, artificial intelligence, bionics and other disciplines. With the continuous development of science and technology, the research of robot technology is very active and It is increasingly used in a wide range of fields. Because in many robot application scenarios, such as aviation applications, vehicle-mounted robots and large-scale machinery in construction, etc., the robot arm is required to be lightweight, so the traditional rigid robot arm is no longer suitable. Compared with rigid manipulators, flexible manipulators have the characteristics of light structure, high load-to-weight ratio, etc., so they have lower energy consumption, larger operating spa...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 张银炎李帅
Owner THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST
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