Flexible control method for mechanical arm based on dynamics

Abstract

The invention discloses a flexible control method for a mechanical arm based on dynamics. The control method comprises the steps that kinematics modeling is carried out on a model by adopting a generalized D-H method; dynamics modeling is carried out on the model by adopting a Newton-Euler formula; the joint torque is calculated, and approximate estimation is carried out on the torque result by adopting a multivariate function Taylor formula; the expression of the joint torque is further simplified according to the approximate treatment of the joint speed; and a certain arc curve is given, andthe calculation result is correspondingly verified in MATLAB. According to the flexible control method for the mechanical arm based on dynamics, the speed and the acceleration are subjected to approximate treatment by utilizing the Taylor formula for low-speed movement under high acceleration, the calculated torsion formula is simple, in addition, the use effect is equivalent to that of a true value, and therefore the pressure calculated by a controller in real time is reduced.

Description

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AI Technical Summary

Benefits of technology

The technical effects of this new technology are that it allows for precise movement within very small increments without overstabilizing or causing damage during rapid movements even when there's no significant force on them. This means less pressurized hydraulic systems can be used instead of more expensive components like pumps.

Problems solved by technology

In this patented method described in detail by Reynolds et al., it involves calculating the joint force between two parts called an end effector that are connected through mechanical linkages like cables. However, current methods require expensive equipment with advanced computing capabilities, making them difficult to use accurately during lower levels of motion such as when moving around smoothly (the robot's movement).

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