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Flexible mechanical arm control simulation platform and simulation method thereof

A flexible manipulator and simulation platform technology, applied in the field of mobile communication, can solve problems such as complex operation logic, difficulty in parameter setting and modification, and difficulty in analyzing pure data records, so as to shorten test time, avoid waste of resources and design The effect of personnel safety concerns

Inactive Publication Date: 2018-08-21
NANJING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

[0007] 1. The simulation platform has poor human-computer interaction and complex operation logic
[0008] 2. The amount of simulation data is large, and the record of pure data is not easy to analyze
[0009] 3. It is difficult to set and modify parameters, and the simulation system needs to be redesigned

Method used

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  • Flexible mechanical arm control simulation platform and simulation method thereof
  • Flexible mechanical arm control simulation platform and simulation method thereof
  • Flexible mechanical arm control simulation platform and simulation method thereof

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Embodiment approach

[0039] Each module embodiment of the present invention is as follows:

[0040] 1. Mathematical model of flexible manipulator 1 Working principle

[0041] Based on the Simulink programming environment, the control system model of the flexible manipulator is established, including the system controller, controlled model and observer. Each module is responsible for data processing in each link of the control system in the form of S function. The processing functions contained in the module and the input and output of data are realized by the instructions of the corresponding M files. The mathematical model equation is as follows:

[0042]

[0043] Among them, q and q m Respectively represent the angular position of the connecting rod and the rotor; I and J represent the moment of inertia of the connecting rod and the rotor respectively;

[0044] K represents the joint stiffness coefficient; M, g, l represent the mass of the connecting rod, the acceleration of gravity and t...

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Abstract

The invention relates to a flexible mechanical arm control simulation platform and a working method thereof. The simulation platform comprises a flexible mechanical arm mathematical model, a simulation platform main interface, a control scheme selection and implementation module, a desired trajectory setting module, a control parameter setting module and a parameter status display module. A human-computer interaction interface of the simulation platform is designed by utilizing the GUI language of constructing a graphical interface, and a data interaction channel is established with a controlsimulation system based on Simulink. A user inputs various control parameters and model parameters of the simulation platform on the human-computer interaction interface, and clicks each function button to achieve parameter setting, mathematical simulation running and simulation image display.

Description

technical field [0001] The invention relates to a simulation technology of a mechanical arm, in particular to a control simulation platform for a flexible mechanical arm and a simulation method thereof, belonging to the technical field of mobile communication. Background technique [0002] As the most direct application object of dynamic analysis and control theory of flexible multi-body system, flexible manipulator has the characteristics of concise physical model and easy realization of computer and physical model test. Since the 1990s, research on modeling and simulation of flexible manipulators has attracted widespread attention from experts and scholars at home and abroad. So far, the research on the control of rigid manipulators has formed many mature control theories. [0003] The comprehensive development of cybernetics provides many choices for the design of control algorithms for flexible manipulators. In particular, nonlinear control theories such as neural netwo...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 杨杨竹晨曦魏祥森岳东谈杰
Owner NANJING UNIV OF POSTS & TELECOMM
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