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Control method for adaptive dynamic programming flexible mechanical arm

A technology of flexible manipulators and control methods, applied in the field of flexible manipulators, can solve problems such as low control accuracy and cumbersomeness, and achieve the effects of improving control accuracy, simplifying operation steps, and shortening control time

Inactive Publication Date: 2019-10-11
ZHEJIANG SHUREN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides an adaptive dynamic programming flexible manipulator control method, which has the advantages of improved control accuracy and simple control process, and solves the problem of the low control accuracy of the control method in the prior art. and more complex issues

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  • Control method for adaptive dynamic programming flexible mechanical arm
  • Control method for adaptive dynamic programming flexible mechanical arm
  • Control method for adaptive dynamic programming flexible mechanical arm

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Embodiment Construction

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] A method for controlling a flexible manipulator based on adaptive dynamic programming, the control method comprising the following steps:

[0032] Step 1, establishing a dynamic model of the flexible manipulator;

[0033] Step 2. Design the controller of the flexible manipulator based on the dynamic mode;

[0034] Step 3. Control the angular movement of the flexible manipulator:

[0035] Step 3.1, analyzing and modeling the uncertain parameters of the flexible manipulator;

[0036] Step 3.2, controlling the angular displacement and...

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Abstract

The invention relates to the technical field of flexible mechanical arms, and discloses a control method for an adaptive dynamic programming flexible mechanical arm. The control method comprises the following steps: 1, a kinetic model of the flexible mechanical arm is built; 2, a controller based on a dynamic mode for the flexible mechanical arm is designed; 3, the angle movement of the flexible mechanical arm is controlled; 3.1, indefinite parameters of the flexible mechanical arm are subjected to analysis modeling; 3.2, angle displacement and rotation of the flexible mechanical arm are controlled; 3.3, the angle position vectors of joints of the flexible mechanical arm are controlled; and 3.4, intelligent angle space differences of the flexible mechanical arm are combined to control theposture of the flexible mechanical arm. By adopting the control method for the adaptive dynamic programming flexible mechanical arm, the control precision of the flexible mechanical arm is well improved; operation is simple and convenient; control time can be effectively shortened; and control efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of flexible manipulators, in particular to an adaptive dynamic programming flexible manipulator control method. Background technique [0002] The adaptive dynamic planning flexible manipulator is a kind of flexible manipulator that can automatically adjust itself according to the dynamic planning. Compared with the rigid manipulator, the flexible manipulator has the characteristics of light structure and high load-to-weight ratio, so it has lower energy consumption, It has a large operating space and high efficiency, and its response is fast and accurate. It has many potential advantages and occupies a very important position in the application fields such as industry and national defense. With the rapid development of the aerospace industry and the robot industry, more and more More and more flexible body systems composed of several flexible components are used. Traditional multi-rigid body dynamics analys...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 吴凡
Owner ZHEJIANG SHUREN UNIV
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